Program Listing for File beacon_publisher.hpp
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#ifndef FUSE_TUTORIALS__BEACON_PUBLISHER_HPP_
#define FUSE_TUTORIALS__BEACON_PUBLISHER_HPP_
#include <string>
#include <fuse_core/async_publisher.hpp>
#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
namespace fuse_tutorials
{
class BeaconPublisher : public fuse_core::AsyncPublisher
{
public:
// It is convenient to have some typedefs for various smart pointer types (shared, unique, etc.).
// A macro is provided to make it easy to define these typedefs and ensures that the naming is
// consistent throughout all fuse packages.
FUSE_SMART_PTR_DEFINITIONS(BeaconPublisher)
BeaconPublisher()
: fuse_core::AsyncPublisher(1) {}
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;
protected:
fuse_core::node_interfaces::NodeInterfaces<
fuse_core::node_interfaces::Base,
fuse_core::node_interfaces::Clock,
fuse_core::node_interfaces::Parameters,
fuse_core::node_interfaces::Topics,
fuse_core::node_interfaces::Waitables
> interfaces_;
std::string map_frame_id_;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr beacon_publisher_;
rclcpp::Clock::SharedPtr clock_;
};
} // namespace fuse_tutorials
#endif // FUSE_TUTORIALS__BEACON_PUBLISHER_HPP_