Program Listing for File gps_bridge.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#include <iostream>
#include <memory>
#include <string>

#include <as2_core/names/topics.hpp>
#include <gz/msgs.hh>
#include <gz/transport.hh>
#include <ros_gz_bridge/convert.hpp>
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/nav_sat_fix.hpp"

#ifndef AS2_GAZEBO_ASSETS__GPS_BRIDGE_HPP_
#define AS2_GAZEBO_ASSETS__GPS_BRIDGE_HPP_

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

private:
  std::shared_ptr<gz::transport::Node> ign_node_ptr_;
  std::string world_name, name_space, sensor_name, link_name, sensor_type;
  static bool use_sim_time_;
  static rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr gps_pub_;

private:
  static std::string replace_delimiter(
    const std::string & input,
    const std::string & old_delim,
    const std::string new_delim);

  static void ignitionGPSCallback(
    const gz::msgs::NavSat & ign_msg,
    const gz::transport::MessageInfo & msg_info);
};

#endif  // AS2_GAZEBO_ASSETS__GPS_BRIDGE_HPP_