Program Listing for File as2_state_estimator.cpp

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// Copyright 2024 Universidad Politécnica de Madrid
//
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// modification, are permitted provided that the following conditions are met:
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//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
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//    * Neither the name of the Universidad Politécnica de Madrid nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include "as2_state_estimator.hpp"
namespace as2_state_estimator
{

StateEstimator::StateEstimator(const rclcpp::NodeOptions & options)
: as2::Node("state_estimator", get_modified_options(options))
{
  tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
  tfstatic_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
  try {
    this->get_parameter("plugin_name", plugin_name_);
  } catch (const rclcpp::ParameterTypeException & e) {
    RCLCPP_FATAL(
      this->get_logger(), "Launch argument <plugin_name> not defined or malformed: %s",
      e.what());
    this->~StateEstimator();
  }
  plugin_name_ += "::Plugin";
  loader_ =
    std::make_shared<pluginlib::ClassLoader<as2_state_estimator_plugin_base::StateEstimatorBase>>(
    "as2_state_estimator", "as2_state_estimator_plugin_base::StateEstimatorBase");
  try {
    plugin_ptr_ = loader_->createSharedInstance(plugin_name_);
    plugin_ptr_->setup(this, tf_buffer_, tf_broadcaster_, tfstatic_broadcaster_);
  } catch (const pluginlib::PluginlibException & e) {
    RCLCPP_FATAL(this->get_logger(), "Failed to load plugin: %s", e.what());
    this->~StateEstimator();
  }
}

rclcpp::NodeOptions StateEstimator::get_modified_options(const rclcpp::NodeOptions & options)
{
  // Create a copy of the options and modify it
  rclcpp::NodeOptions modified_options = options;
  modified_options.allow_undeclared_parameters(true);
  modified_options.automatically_declare_parameters_from_overrides(true);
  return modified_options;
}

}  // namespace as2_state_estimator