Program Listing for File object_tf_broadcaster.hpp

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#include <geometry_msgs/msg/transform_stamped.h>
#include <tf2_msgs/msg/tf_message.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>

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

#include <gz/msgs.hh>
#include <gz/transport.hh>
#include <rclcpp/clock.hpp>
#include <rclcpp/rclcpp.hpp>
#include <ros_gz_bridge/convert.hpp>

#include <geometry_msgs/msg/transform_stamped.hpp>

using std::placeholders::_1;

#ifndef AS2_GAZEBO_ASSETS__OBJECT_TF_BROADCASTER_HPP_
#define AS2_GAZEBO_ASSETS__OBJECT_TF_BROADCASTER_HPP_

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

private:
  static std::unique_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster;
  static std::shared_ptr<std::string> world_frame_;
  static std::shared_ptr<std::string> model_name_;
  static std::shared_ptr<std::string> world_name;
  static bool use_sim_time_;

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

private:
  rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscription;
  std::shared_ptr<gz::transport::Node> ign_node_ptr_;
};

#endif  // AS2_GAZEBO_ASSETS__OBJECT_TF_BROADCASTER_HPP_