change_header.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <memory>
#include <string>
#include <utility>
 
#include <ros/duration.h>
#include <ros/message_event.h>
#include <ros/publisher.h>
#include <ros/time.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/nodelet_utils.hpp>
#include <cras_cpp_common/optional.hpp>
 
#include <cras_topic_tools/generic_lazy_pubsub.hpp>
 
namespace cras
{
 
class ChangeHeaderNodelet : public ::cras::Nodelet
{
protected:
  ::std::unique_ptr<::cras::GenericLazyPubSub> pubSub;
 
  void onInit() override;
 
  virtual void processMessage(
    const ::ros::MessageEvent<const ::topic_tools::ShapeShifter>& event, ::ros::Publisher& pub);
 
  ::cras::optional<::std::string> newFrameId;
 
  ::cras::optional<::std::string> newFrameIdPrefix;
 
  ::cras::optional<::std::string> newFrameIdSuffix;
 
  ::cras::optional<::std::pair<::std::string, ::std::string>> newFrameIdReplace;
 
  ::cras::optional<::std::pair<::std::string, ::std::string>> newFrameIdReplaceStart;
 
  ::cras::optional<::std::pair<::std::string, ::std::string>> newFrameIdReplaceEnd;
 
  ::cras::optional<::ros::Time> newStampAbs;
 
  ::cras::optional<::ros::Duration> newStampRel;
 
  bool newStampRosTime {false};
 
  bool newStampWallTime {false};
 
  ::cras::optional<bool> hasHeader {::cras::nullopt};
};
 
}