Program Listing for File gimbal_bridge.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#include <math.h>

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

#include <as2_core/names/topics.hpp>
#include <as2_core/utils/frame_utils.hpp>
#include <gz/msgs.hh>
#include <gz/transport.hh>
#include <rclcpp/clock.hpp>
#include <ros_gz_bridge/convert.hpp>
#include "as2_msgs/msg/gimbal_control.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/rclcpp.hpp"

#ifndef AS2_GAZEBO_ASSETS__GIMBAL_BRIDGE_HPP_
#define AS2_GAZEBO_ASSETS__GIMBAL_BRIDGE_HPP_

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

private:
  static std::shared_ptr<std::string> model_name_;
  static std::shared_ptr<std::string> gimbal_name_;
  static std::shared_ptr<std::string> sensor_name_;
  static std::shared_ptr<std::string> control_mode_;
  static std::shared_ptr<std::string> world_name_;

  void gimbalCmdCallback(const as2_msgs::msg::GimbalControl::SharedPtr msg);

  rclcpp::Subscription<as2_msgs::msg::GimbalControl>::SharedPtr gimbal_cmd_sub_;
  static rclcpp::Publisher<geometry_msgs::msg::QuaternionStamped>::SharedPtr gimbal_attitude_pub_;
  static rclcpp::Publisher<geometry_msgs::msg::Vector3Stamped>::SharedPtr
    gimbal_angular_velocity_pub_;

  static std::shared_ptr<rclcpp::Clock> clock_;
  std::shared_ptr<gz::transport::Node> gz_node_ptr_;
  gz::transport::Node::Publisher gimbal_roll_pub;
  gz::transport::Node::Publisher gimbal_pitch_pub;
  gz::transport::Node::Publisher gimbal_yaw_pub;

  static void gzJointStateCallback(
    const gz::msgs::Model & gz_msg,
    const gz::transport::MessageInfo & msg_info);
};

#endif  // AS2_GAZEBO_ASSETS__GIMBAL_BRIDGE_HPP_