Program Listing for File azimuth_bridge.hpp

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#include <math.h>

#include <iostream>
#include <memory>
#include <string>

#include "rclcpp/publisher.hpp"
#include "rclcpp/rclcpp.hpp"

#include <as2_core/names/topics.hpp>
#include <gz/msgs.hh>
#include <gz/transport.hh>
#include <ros_gz_bridge/convert.hpp>
#include <std_msgs/msg/float32.hpp>

#ifndef AS2_GAZEBO_ASSETS__AZIMUTH_BRIDGE_HPP_
#define AS2_GAZEBO_ASSETS__AZIMUTH_BRIDGE_HPP_

class AzimuthBridge : public rclcpp::Node
{
public:
  AzimuthBridge();

private:
  std::shared_ptr<gz::transport::Node> ign_node_ptr_;
  std::string model_name_;
  static rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr ps_pub_;
  struct Quaternion
  {
    float w, x, y, z;
  };

private:
  static void ignitionGroundTruthCallback(
    const gz::msgs::Odometry & ign_msg,
    const gz::transport::MessageInfo & msg_info);

  static float toEulerYaw(Quaternion q);

  static float toAzimuth(float yaw);
};

#endif  // AS2_GAZEBO_ASSETS__AZIMUTH_BRIDGE_HPP_