tof_radar_controller.h

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//
// Created by luotinkai on 2022/1/2.
//
 
#pragma once
 
#include <controller_interface/controller.h>
#include <controller_interface/multi_interface_controller.h>
#include <realtime_tools/realtime_publisher.h>
#include <rm_common/hardware_interface/tof_radar_interface.h>
#include <rm_msgs/TofRadarData.h>
 
namespace tof_radar_controller
{
class Controller : public controller_interface::Controller<rm_control::TofRadarInterface>
{
public:
  Controller() = default;
 
  bool init(rm_control::TofRadarInterface* hw, ros::NodeHandle& root_nh, ros::NodeHandle& controller_nh) override;
 
  void update(const ros::Time& time, const ros::Duration& period) override;
 
private:
  std::vector<rm_control::TofRadarHandle> tof_radar_;
  typedef std::shared_ptr<realtime_tools::RealtimePublisher<rm_msgs::TofRadarData>> RtpublisherPtr;
  RtpublisherPtr tof_pub_;
  std::vector<RtpublisherPtr> realtime_pubs_;
};
}  // namespace tof_radar_controller