Program Listing for File odometry_2d.hpp

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#ifndef FUSE_MODELS__ODOMETRY_2D_HPP_
#define FUSE_MODELS__ODOMETRY_2D_HPP_

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <memory>
#include <string>

#include <fuse_models/parameters/odometry_2d_params.hpp>
#include <fuse_core/throttled_callback.hpp>

#include <fuse_core/async_sensor_model.hpp>
#include <fuse_core/uuid.hpp>

#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>


namespace fuse_models
{

class Odometry2D : public fuse_core::AsyncSensorModel
{
public:
  FUSE_SMART_PTR_DEFINITIONS(Odometry2D)
  using ParameterType = parameters::Odometry2DParams;

  Odometry2D();

  virtual ~Odometry2D() = default;

  void initialize(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name,
    fuse_core::TransactionCallback transaction_callback) override;

  void process(const nav_msgs::msg::Odometry & msg);

protected:
  fuse_core::UUID device_id_;

  void onInit() override;

  void onStart() override;

  void onStop() override;

  void processDifferential(
    const geometry_msgs::msg::PoseWithCovarianceStamped & pose,
    const geometry_msgs::msg::TwistWithCovarianceStamped & twist, const bool validate,
    fuse_core::Transaction & transaction);

  fuse_core::node_interfaces::NodeInterfaces<
    fuse_core::node_interfaces::Base,
    fuse_core::node_interfaces::Clock,
    fuse_core::node_interfaces::Logging,
    fuse_core::node_interfaces::Parameters,
    fuse_core::node_interfaces::Topics,
    fuse_core::node_interfaces::Waitables
  > interfaces_;

  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_;

  ParameterType params_;

  geometry_msgs::msg::PoseWithCovarianceStamped::UniquePtr previous_pose_;

  // NOTE(CH3): Unique ptr to defer till we have the node interfaces from initialize()
  std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
  std::unique_ptr<tf2_ros::TransformListener> tf_listener_;

  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr sub_;

  using OdometryThrottledCallback = fuse_core::ThrottledMessageCallback<nav_msgs::msg::Odometry>;
  OdometryThrottledCallback throttled_callback_;
};

}  // namespace fuse_models

#endif  // FUSE_MODELS__ODOMETRY_2D_HPP_