statepublisher_rostopic.h

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#ifndef STATE_PUBLISHER_ROSTOPIC_H
#define STATE_PUBLISHER_ROSTOPIC_H
 
#include <QObject>
#include <QtPlugin>
#include <map>
#include <ros/ros.h>
#include <ros_type_introspection/ros_introspection.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <PlotJuggler/statepublisher_base.h>
#include "shape_shifter_factory.hpp"
#include <rosbag/bag.h>
 
class TopicPublisherROS : public PJ::StatePublisher
{
  Q_OBJECT
  Q_PLUGIN_METADATA(IID "facontidavide.PlotJuggler3.StatePublisher")
  Q_INTERFACES(PJ::StatePublisher)
 
public:
  TopicPublisherROS();
 
  virtual ~TopicPublisherROS() override;
 
  virtual void updateState(double current_time) override;
 
  virtual const char* name() const override
  {
    return "ROS Topic Re-Publisher";
  }
 
  virtual bool enabled() const override
  {
    return _enabled;
  }
 
  virtual void play(double interval) override;
 
  const std::vector<QAction*>& availableActions() override;
 
public slots:
  virtual void setEnabled(bool enabled) override;
 
  void filterDialog(bool autoconfirm);
 
private:
  void broadcastTF(double current_time);
 
  std::map<std::string, ros::Publisher> _publishers;
 
  bool _enabled;
 
  ros::NodeHandlePtr _node;
 
  bool _publish_clock;
 
  std::shared_ptr<tf2_ros::TransformBroadcaster> _tf_broadcaster;
  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> _tf_static_broadcaster;
 
  ros::Publisher _clock_publisher;
 
  QAction* _select_topics_to_publish;
 
  std::unordered_map<std::string, bool> _topics_to_publish;
 
  bool toPublish(const std::string& topic_name);
 
  double previous_time;
 
  int _previous_play_index;
 
  std::vector<QAction*> _available_actions;
 
  void publishAnyMsg(const rosbag::MessageInstance& msg_instance);
};
 
#endif  // DATALOAD_CSV_H