.. _program_listing_file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_remote_reciever.hpp:

Program Listing for File remote_reciever.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_visual_tools_include_rviz_visual_tools_remote_reciever.hpp>` (``/tmp/ws/src/rviz_visual_tools/include/rviz_visual_tools/remote_reciever.hpp``)

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

.. code-block:: cpp

   // Copyright 2021 PickNik Inc.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   //    * Redistributions of source code must retain the above copyright
   //      notice, this list of conditions and the following disclaimer.
   //
   //    * Redistributions in binary form must reproduce the above copyright
   //      notice, this list of conditions and the following disclaimer in the
   //      documentation and/or other materials provided with the distribution.
   //
   //    * Neither the name of the PickNik Inc. nor the names of its
   //      contributors may be used to endorse or promote products derived from
   //      this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   /* Author: Dave Coleman
      Desc:   Object for wrapping remote control functionality
   */
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/joy.hpp>
   
   namespace rviz_visual_tools
   {
   class RemoteReciever : public rclcpp::Node
   {
   public:
     RemoteReciever(const std::string& nodeName) : rclcpp::Node(nodeName)
     {
       joy_publisher_ =
           this->create_publisher<sensor_msgs::msg::Joy>("/rviz_visual_tools_gui", rclcpp::QoS(100));
     }
   
     void publishNext()
     {
       RCLCPP_DEBUG(this->get_logger(), "Next");
       sensor_msgs::msg::Joy msg;
       msg.buttons.resize(9);
       msg.buttons[1] = 1;
       joy_publisher_->publish(msg);
     }
   
     void publishContinue()
     {
       RCLCPP_DEBUG(this->get_logger(), "Continue");
       sensor_msgs::msg::Joy msg;
       msg.buttons.resize(9);
       msg.buttons[2] = 1;
       joy_publisher_->publish(msg);
     }
   
     void publishBreak()
     {
       RCLCPP_DEBUG(this->get_logger(), "Break");
       sensor_msgs::msg::Joy msg;
       msg.buttons.resize(9);
       msg.buttons[3] = 1;
       joy_publisher_->publish(msg);
     }
   
     void publishStop()
     {
       RCLCPP_DEBUG(this->get_logger(), "Stop");
       sensor_msgs::msg::Joy msg;
       msg.buttons.resize(9);
       msg.buttons[4] = 1;
       joy_publisher_->publish(msg);
     }
   
   protected:
     // The ROS publishers
     rclcpp::Publisher<sensor_msgs::msg::Joy>::SharedPtr joy_publisher_;
   };
   
   }  // end namespace rviz_visual_tools