publisher_ros2.h

Go to the documentation of this file.

#ifndef STATE_PUBLISHER_ROS2TOPIC_H
#define STATE_PUBLISHER_ROS2TOPIC_H
 
#include <QObject>
#include <QtPlugin>
#include <map>
#include <unordered_set>
 
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/publisher.hpp>
#include <rosbag2_storage/serialized_bag_message.hpp>
#include <rosbag2_storage/storage_options.hpp>
 
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster.h>
 
#include <PlotJuggler/statepublisher_base.h>
#include "ros_parsers/ros2_parser.h"
#include "generic_publisher.h"
 
using MessageRefPtr = std::shared_ptr<rosbag2_storage::SerializedBagMessage>;
 
 
class TopicPublisherROS2 : public PJ::StatePublisher
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.StatePublisher")
  Q_INTERFACES(PJ::StatePublisher)
 
public:
  TopicPublisherROS2();
 
  virtual ~TopicPublisherROS2() override;
 
  void updateState(double current_time) override;
 
  const char* name() const override
  {
    return "ROS2 Topic Re-Publisher";
  }
 
  bool enabled() const override
  {
    return _enabled;
  }
 
  const std::vector<QAction*>& availableActions() override;
 
  void play(double interval) override;
 
public slots:
 
  void setEnabled(bool enabled) override;
 
  void filterDialog();
 
private:
 
  std::shared_ptr<rclcpp::Context> _context;
  std::unique_ptr<rclcpp::executors::MultiThreadedExecutor> _executor;
  std::shared_ptr<rclcpp::Node> _node;
 
  bool _enabled;
 
  std::shared_ptr<tf2_ros::TransformBroadcaster> _tf_broadcaster;
  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> _tf_static_broadcaster;
 
  std::unordered_map<std::string, std::shared_ptr<GenericPublisher>> _publishers;
 
  QAction* _select_topics_to_publish;
 
  std::unordered_map<std::string, bool> _topics_to_publish;
 
  double previous_time;
 
  int _previous_play_index;
 
  std::vector<TopicInfo> _topics_info;
 
  std::vector<QAction*> _available_actions;
 
  void broadcastTF(double current_time);
 
  void updatePublishers();
};
 
#endif  // STATE_PUBLISHER_ROS2TOPIC_H