.. _program_listing_file__tmp_ws_src_nmea_hardware_interface_include_nmea_hardware_interface_geopose_publisher.hpp:

Program Listing for File geopose_publisher.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_nmea_hardware_interface_include_nmea_hardware_interface_geopose_publisher.hpp>` (``/tmp/ws/src/nmea_hardware_interface/include/nmea_hardware_interface/geopose_publisher.hpp``)

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

.. code-block:: cpp

   // Copyright (c) 2021 OUXT Polaris
   //
   // 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 NMEA_HARDWARE_INTERFACE__GEOPOSE_PUBLISHER_HPP_
   #define NMEA_HARDWARE_INTERFACE__GEOPOSE_PUBLISHER_HPP_
   
   #include <realtime_tools/realtime_buffer.h>
   #include <realtime_tools/realtime_publisher.h>
   
   #include <controller_interface/controller_interface.hpp>
   #include <diagnostic_msgs/msg/diagnostic_array.hpp>
   #include <geographic_msgs/msg/geo_pose_stamped.hpp>
   #include <geometry_msgs/msg/transform_stamped.hpp>
   #include <memory>
   #include <rclcpp/rclcpp.hpp>
   #include <rclcpp/subscription.hpp>
   #include <rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp>
   #include <rclcpp_lifecycle/state.hpp>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   namespace nmea_hardware_interface
   {
   class GeoPosePublisher : public controller_interface::ControllerInterface
   {
   public:
     controller_interface::return_type init(
       const std::string & controller_name, const std::string & namespace_ = "",
       const rclcpp::NodeOptions & node_options =
         rclcpp::NodeOptions()
           .allow_undeclared_parameters(true)
           .automatically_declare_parameters_from_overrides(true)) override;
   
     controller_interface::InterfaceConfiguration command_interface_configuration() const override
     {
       return controller_interface::InterfaceConfiguration{
         controller_interface::interface_configuration_type::NONE};
     }
   
     controller_interface::InterfaceConfiguration state_interface_configuration() const override;
   
   #if defined(GALACTIC) || defined(HUMBLE)
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_init()
     {
       return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
     }
   #endif
   
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
       const rclcpp_lifecycle::State & /*previous_state*/) override;
   
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
       const rclcpp_lifecycle::State & /*previous_state*/) override
     {
       return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
     }
   
     rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
       const rclcpp_lifecycle::State & /*previous_state*/) override
     {
       return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
     }
   
   #if defined(GALACTIC) || defined(HUMBLE)
     controller_interface::return_type update(
       const rclcpp::Time & time, const rclcpp::Duration & period) override;
   #else
     controller_interface::return_type update() override;
   #endif
   
   private:
     double publish_rate_;
     double update_duration_;
     size_t size_;
     std::string geopose_topic_;
     std::string frame_id_;
     std::string qos_;
     bool isfirsttime;
     std::shared_ptr<rclcpp::Clock> clock_ptr_;
     geographic_msgs::msg::GeoPoseStamped geopose_;
     double getValue(const std::string & joint_name, const std::string & interface_name);
     double configure_time_;
     double next_update_time_;
     rclcpp::Publisher<geographic_msgs::msg::GeoPoseStamped>::SharedPtr geopose_pub_;
     std::shared_ptr<realtime_tools::RealtimePublisher<geographic_msgs::msg::GeoPoseStamped>>
       geopose_pub_realtime_;
   };
   }  // namespace nmea_hardware_interface
   
   #endif  // NMEA_HARDWARE_INTERFACE__GEOPOSE_PUBLISHER_HPP_