.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_orthogonals_or_temperature_sensor.hpp:

Program Listing for File or_temperature_sensor.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_sm_reference_library_sm_dance_bot_warehouse_3_include_sm_dance_bot_warehouse_3_orthogonals_or_temperature_sensor.hpp>` (``/tmp/ws/src/SMACC2/smacc2_sm_reference_library/sm_dance_bot_warehouse_3/include/sm_dance_bot_warehouse_3/orthogonals/or_temperature_sensor.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // 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.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    ******************************************************************************************************************/
   
   #pragma once
   
   #include <multirole_sensor_client/cl_multirole_sensor.hpp>
   #include <sensor_msgs/msg/temperature.hpp>
   #include <sm_dance_bot_warehouse_3/clients/cl_temperature_sensor/cl_temperature_sensor.hpp>
   #include <smacc2/smacc_orthogonal.hpp>
   
   using namespace std::chrono_literals;
   
   namespace sm_dance_bot_warehouse_3
   {
   class OrTemperatureSensor : public smacc2::Orthogonal<OrTemperatureSensor>
   {
   public:
     void onInitialize() override
     {
       auto clTemperatureSensor = this->createClient<ClTemperatureSensor>();
   
       clTemperatureSensor->topicName = "/temperature";
       clTemperatureSensor->timeout_ = rclcpp::Duration(10s);
     }
   };
   }  // namespace sm_dance_bot_warehouse_3