rosaic_node.hpp

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#pragma once
 
// tf2 includes
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
// ROSaic includes
#include <septentrio_gnss_driver/communication/communication_core.hpp>
 
namespace rosaic_node {
    class ROSaicNode : public ROSaicNodeBase
    {
    public:
        ROSaicNode(const rclcpp::NodeOptions& options);
 
        ~ROSaicNode();
 
    private:
        void setup();
        [[nodiscard]] bool getROSParams();
        [[nodiscard]] bool validPeriod(uint32_t period, bool isIns) const;
        void getTransform(const std::string& targetFrame,
                          const std::string& sourceFrame,
                          TransformStampedMsg& T_s_t) const;
        void getRPY(const QuaternionMsg& qm, double& roll, double& pitch,
                    double& yaw) const;
 
        void sendVelocity(const std::string& velNmea);
 
        io::CommunicationCore IO_;
        tf2_ros::Buffer tfBuffer_;
        std::unique_ptr<tf2_ros::TransformListener> tfListener_;
 
        std::thread setupThread_;
    };
} // namespace rosaic_node