Program Listing for File pose_2d_publisher.hpp

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#ifndef FUSE_PUBLISHERS__POSE_2D_PUBLISHER_HPP_
#define FUSE_PUBLISHERS__POSE_2D_PUBLISHER_HPP_

#include <tf2/utils.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/transform_listener.h>

#include <memory>
#include <string>

#include <fuse_publishers/stamped_variable_synchronizer.hpp>

#include <fuse_core/async_publisher.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/uuid.hpp>
#include <fuse_variables/orientation_2d_stamped.hpp>
#include <fuse_variables/position_2d_stamped.hpp>

#include <pluginlib/class_list_macros.hpp>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>

#include <rclcpp/rclcpp.hpp>


namespace fuse_publishers
{

class Pose2DPublisher : public fuse_core::AsyncPublisher
{
public:
  FUSE_SMART_PTR_DEFINITIONS(Pose2DPublisher)


  Pose2DPublisher();

  virtual ~Pose2DPublisher() = default;

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

  void onInit() override;

  void onStart() override;

  void onStop() override;

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

  void tfPublishTimerCallback();

protected:
  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_;

  using Synchronizer = StampedVariableSynchronizer<
    fuse_variables::Orientation2DStamped,
    fuse_variables::Position2DStamped>;

  std::string base_frame_;
  fuse_core::UUID device_id_;
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_;

  std::string map_frame_;
  std::string odom_frame_;

  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_publisher_;
  rclcpp::Publisher<
    geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pose_with_covariance_publisher_;
  bool publish_to_tf_;
  Synchronizer::UniquePtr synchronizer_;
  std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
  std::unique_ptr<tf2_ros::TransformListener> tf_listener_;

  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_publisher_ = nullptr;

  rclcpp::TimerBase::SharedPtr tf_publish_timer_;
  rclcpp::Duration tf_timeout_;
  geometry_msgs::msg::TransformStamped tf_transform_;
  bool use_tf_lookup_;
};

}  // namespace fuse_publishers

#endif  // FUSE_PUBLISHERS__POSE_2D_PUBLISHER_HPP_