.. _program_listing_file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_utils_include_bosch_locator_bridge_utils_locator_node.hpp:

Program Listing for File locator_node.hpp
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_utils_include_bosch_locator_bridge_utils_locator_node.hpp>` (``/tmp/ws/src/locator_ros_bridge/bosch_locator_bridge_utils/include/bosch_locator_bridge_utils/locator_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2022 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/boschglobal/locator_ros_bridge.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef BOSCH_LOCATOR_BRIDGE_UTILS__LOCATOR_NODE_HPP_
   #define BOSCH_LOCATOR_BRIDGE_UTILS__LOCATOR_NODE_HPP_
   
   #include <memory>
   #include <string>
   
   #include "nav2_util/lifecycle_node.hpp"
   
   #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
   #include "std_srvs/srv/empty.hpp"
   #include "tf2_ros/buffer.h"
   #include "tf2_ros/transform_broadcaster.h"
   #include "tf2_ros/transform_listener.h"
   #include "tf2_ros/create_timer_ros.h"
   #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
   
   namespace bosch_locator_bridge_utils
   {
   class LocatorNode : public nav2_util::LifecycleNode
   {
   public:
     explicit LocatorNode(const std::string & node_name);
   
   protected:
     nav2_util::CallbackReturn on_configure(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_activate(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_deactivate(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_cleanup(
       const rclcpp_lifecycle::State & state) override;
     nav2_util::CallbackReturn on_shutdown(
       const rclcpp_lifecycle::State & state) override;
   
     std::atomic<bool> active_ {false};
   
     // Callbacks
     void poseCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr pose);
   
     // Subscribers
     rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_sub_;
   
     // Service clients
     rclcpp::Client<std_srvs::srv::Empty>::SharedPtr serviceClientStartLocalization_;
     rclcpp::Client<std_srvs::srv::Empty>::SharedPtr serviceClientStopLocalization_;
   
     // Transforms
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
     std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
     std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
     tf2::Transform odom_to_map_;
   
     std::string base_frame_id_;
     std::string global_frame_id_;
     std::string odom_frame_id_;
     std::string pose_topic_;
     tf2::Duration transform_tolerance_;
   };
   }  // namespace bosch_locator_bridge_utils
   
   #endif  // BOSCH_LOCATOR_BRIDGE_UTILS__LOCATOR_NODE_HPP_