mrpt_sensorlib.h

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/* mrpt_sensorlib ROS package
 *
 * Copyright 2021-2022, Jose Luis Blanco Claraco
 * License: BSD 3-Clause License
 */
 
#pragma once
 
#include <ros/ros.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <optional>
#include <mrpt/obs/obs_frwds.h>
 
namespace mrpt_sensorlib
{
class GenericSensorNode
{
   public:
        GenericSensorNode();
        virtual ~GenericSensorNode();
 
        virtual void init_from_config_file(int argc, char** argv);
 
        virtual void init_from_template_and_parameters(int argc, char** argv);
 
        void run();
 
   protected:
        ros::NodeHandle nh_{};
        ros::NodeHandle nhlocal_{"~"};
 
        std::optional<std::string> cfgfilename_;
        std::shared_ptr<mrpt::config::CConfigFileBase> cfgfile_;
        std::string cfg_section_{"SENSOR1"};
 
        mrpt::hwdrivers::CGenericSensor::Ptr sensor_;
        std::string out_rawlog_prefix_;  
        mrpt::io::CFileGZOutputStream out_rawlog_;
        int rawlog_GZ_compress_level_{1};
 
        virtual void internal_init();
 
        virtual void process_sensor_specific()
        { /*do nothing by default*/
        }
        virtual void init_sensor_specific()
        { /*do nothing by default*/
        }
 
        virtual void on_observation(const mrpt::obs::CObservation::Ptr& o);
 
        virtual void on_observation_velodyne(
                const mrpt::obs::CObservationVelodyneScan& o);
};
 
}  // namespace mrpt_sensorlib