bounding_box_to_detected_object_node.h

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * 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.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <autoware_auto_msgs/msg/detected_objects.hpp>
#include <autoware_auto_msgs/msg/bounding_box_array.hpp>
 
#include "carma_ros2_utils/carma_lifecycle_node.hpp"
 
namespace bounding_box_to_detected_object {
 
class Node : public carma_ros2_utils::CarmaLifecycleNode
{
 
 private:
  
  //subscriber
  carma_ros2_utils::SubPtr<autoware_auto_msgs::msg::BoundingBoxArray> bbox_sub_;
 
  //publisher
  carma_ros2_utils::PubPtr<autoware_auto_msgs::msg::DetectedObjects> object_pub_;
 
 public:
  
  explicit Node(const rclcpp::NodeOptions& );
 
  void bbox_callback(autoware_auto_msgs::msg::BoundingBoxArray::UniquePtr msg);
 
  // Overrides
  carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
  
};
 
}//bounding_box_to_detected_object