Program Listing for File remote_reciever.hpp

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// Copyright 2021 PickNik Inc.
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/* 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