ros_messages.hpp

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//
// Copyright (c) 2020 NovAtel Inc.
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#ifndef __ROS_MESSAGES_HPP__
#define __ROS_MESSAGES_HPP__

#include <ros/ros.h>


namespace novatel_oem7_driver
{

  uint32_t GetNextMsgSequenceNumber();

  template <typename T>
  void
  SetROSHeader(
      const std::string& frame_id,
      boost::shared_ptr<T>& msg)
  {
    msg->header.frame_id = frame_id;
    msg->header.stamp    = ros::Time::now();
    msg->header.seq      = GetNextMsgSequenceNumber();
  }
}
#endif