Program Listing for File AuxiliarNode.hpp
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// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MOCAP4R2_CONTROL__AUXILIARNODE_HPP_
#define MOCAP4R2_CONTROL__AUXILIARNODE_HPP_
#include <string>
#include "mocap4r2_control/ControlledLifecycleNode.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
namespace mocap4r2_control
{
class AuxiliarNode : public ControlledLifecycleNode
{
public:
explicit AuxiliarNode(const std::string & system_id);
protected:
using CallbackReturnT =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);
void control_start(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) final;
void control_stop(const mocap4r2_control_msgs::msg::Control::SharedPtr msg) final;
};
} // namespace mocap4r2_control
#endif // MOCAP4R2_CONTROL__AUXILIARNODE_HPP_