Program Listing for File odometry_2d_publisher.hpp

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#ifndef FUSE_MODELS__ODOMETRY_2D_PUBLISHER_HPP_
#define FUSE_MODELS__ODOMETRY_2D_PUBLISHER_HPP_

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>

#include <memory>
#include <mutex>
#include <string>

#include <fuse_models/parameters/odometry_2d_publisher_params.hpp>

#include <fuse_core/async_publisher.hpp>
#include <fuse_core/console.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_core/variable.hpp>
#include <fuse_publishers/stamped_variable_synchronizer.hpp>

#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>


namespace fuse_models
{

class Odometry2DPublisher : public fuse_core::AsyncPublisher
{
public:
  FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(Odometry2DPublisher)
  using ParameterType = parameters::Odometry2DPublisherParams;

  Odometry2DPublisher();

  virtual ~Odometry2DPublisher() = default;

  void initialize(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    const std::string & name) override;

protected:
  void onInit() override;

  void notifyCallback(
    fuse_core::Transaction::ConstSharedPtr transaction,
    fuse_core::Graph::ConstSharedPtr graph) override;

  void onStart() override;

  void onStop() override;

  bool getState(
    const fuse_core::Graph & graph,
    const rclcpp::Time & stamp,
    const fuse_core::UUID & device_id,
    fuse_core::UUID & position_uuid,
    fuse_core::UUID & orientation_uuid,
    fuse_core::UUID & velocity_linear_uuid,
    fuse_core::UUID & velocity_angular_uuid,
    fuse_core::UUID & acceleration_linear_uuid,
    nav_msgs::msg::Odometry & odometry,
    geometry_msgs::msg::AccelWithCovarianceStamped & acceleration);

  void publishTimerCallback();

  using Synchronizer = fuse_publishers::StampedVariableSynchronizer<
    fuse_variables::Orientation2DStamped,
    fuse_variables::Position2DStamped,
    fuse_variables::VelocityLinear2DStamped,
    fuse_variables::VelocityAngular2DStamped,
    fuse_variables::AccelerationLinear2DStamped>;

  fuse_core::node_interfaces::NodeInterfaces<
    fuse_core::node_interfaces::Base,
    fuse_core::node_interfaces::Clock,
    fuse_core::node_interfaces::Logging,
    fuse_core::node_interfaces::Parameters,
    fuse_core::node_interfaces::Timers,
    fuse_core::node_interfaces::Topics,
    fuse_core::node_interfaces::Waitables
  > interfaces_;

  fuse_core::UUID device_id_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_;

  ParameterType params_;

  rclcpp::Time latest_stamp_;
  rclcpp::Time latest_covariance_stamp_;
  bool latest_covariance_valid_{false};
  nav_msgs::msg::Odometry odom_output_;
  geometry_msgs::msg::AccelWithCovarianceStamped acceleration_output_;

  Synchronizer synchronizer_;

  std::unique_ptr<tf2_ros::Buffer> tf_buffer_;

  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
  rclcpp::Publisher<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr acceleration_pub_;

  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_ = nullptr;
  std::unique_ptr<tf2_ros::TransformListener> tf_listener_;

  fuse_core::DelayedThrottleFilter delayed_throttle_filter_{10.0};

  rclcpp::TimerBase::SharedPtr publish_timer_;

  std::mutex mutex_;
};

}  // namespace fuse_models

#endif  // FUSE_MODELS__ODOMETRY_2D_PUBLISHER_HPP_