.. _program_listing_file__tmp_ws_src_mola_mola_input_ros2_include_mola_input_ros2_InputROS2.h:

Program Listing for File InputROS2.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mola_mola_input_ros2_include_mola_input_ros2_InputROS2.h>` (``/tmp/ws/src/mola/mola_input_ros2/include/mola_input_ros2/InputROS2.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /* -------------------------------------------------------------------------
    *   A Modular Optimization framework for Localization and mApping  (MOLA)
    * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
    * See LICENSE for license information.
    * ------------------------------------------------------------------------- */
   #pragma once
   
   #include <mola_kernel/interfaces/RawDataSourceBase.h>
   #include <tf2_ros/buffer.h>
   #include <tf2_ros/transform_listener.h>
   
   #include <nav_msgs/msg/odometry.hpp>
   #include <optional>
   #include <sensor_msgs/msg/laser_scan.hpp>
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   namespace mola
   {
   class InputROS2 : public RawDataSourceBase
   {
       DEFINE_MRPT_OBJECT(InputROS2, mola)
   
      public:
       InputROS2();
       ~InputROS2() override = default;
   
       // See docs in base class
       void initialize(const Yaml& cfg) override;
       void spinOnce() override;
   
      private:
       std::thread rosNodeThread_;
   
       struct Params
       {
           std::string base_link_frame = "base_footprint";
   
           std::string odom_frame = "odom";
   
           bool publish_odometry_from_tf = false;
   
           int wait_for_tf_timeout_milliseconds = 100;
       };
   
       Params params_;
   
       // Yaml is NOT a reference on purpose.
       void ros_node_thread_main(Yaml cfg);
   
       std::shared_ptr<tf2_ros::Buffer>            tf_buffer_;
       std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
   
       rclcpp::Clock::SharedPtr ros_clock_;
       std::mutex               ros_clock_mtx_;
   
       std::vector<rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr>
           subsPointCloud_;
   
       std::vector<rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr>
           subsLaserScan_;
   
       std::vector<rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr>
           subsOdometry_;
   
       void callbackOnPointCloud2(
           const sensor_msgs::msg::PointCloud2&       o,
           const std::string&                         outSensorLabel,
           const std::optional<mrpt::poses::CPose3D>& fixedSensorPose);
   
       void callbackOnLaserScan(
           const sensor_msgs::msg::LaserScan& o, const std::string& outSensorLabel,
           const std::optional<mrpt::poses::CPose3D>& fixedSensorPose);
   
       void callbackOnOdometry(
           const nav_msgs::msg::Odometry& o, const std::string& outSensorLabel);
   
       bool waitForTransform(
           mrpt::poses::CPose3D& des, const std::string& target_frame,
           const std::string& source_frame, const rclcpp::Time& time,
           const int timeoutMilliseconds, bool printErrors);
   
       void publishOdometry();
   };
   
   }  // namespace mola