motion_computation_node.hpp

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// Copyright 2019-2023 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.
 
#ifndef MOTION_COMPUTATION__MOTION_COMPUTATION_NODE_HPP_
#define MOTION_COMPUTATION__MOTION_COMPUTATION_NODE_HPP_
 
#include <lanelet2_extension/projection/local_frame_projector.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
#include <functional>
#include <vector>
 
#include "motion_computation/motion_computation_config.hpp"
#include "motion_computation/motion_computation_worker.hpp"
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <rclcpp/rclcpp.hpp>
 
#include <carma_perception_msgs/msg/external_object_list.hpp>
#include <carma_v2x_msgs/msg/mobility_path.hpp>
#include <std_msgs/msg/string.hpp>
 
namespace motion_computation
{
class MotionComputationNode : public carma_ros2_utils::CarmaLifecycleNode
{
private:
  // Subscribers
  carma_ros2_utils::SubPtr<carma_perception_msgs::msg::ExternalObjectList> motion_comp_sub_;
  carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::MobilityPath> mobility_path_sub_;
  carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::BSM> bsm_sub_;
  carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::PSM> psm_sub_;
  carma_ros2_utils::SubPtr<std_msgs::msg::String> georeference_sub_;
 
  // Publishers
  carma_ros2_utils::PubPtr<carma_perception_msgs::msg::ExternalObjectList> carma_obj_pub_;
 
  // MotionComputationWorker class object
  MotionComputationWorker motion_worker_;
 
  // Node configuration
  Config config_;
 
public:
  explicit MotionComputationNode(const rclcpp::NodeOptions &);
 
  rcl_interfaces::msg::SetParametersResult parameter_update_callback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void publishObject(const carma_perception_msgs::msg::ExternalObjectList & obj_pred_msg) const;
 
  // Overrides
  carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
};
 
}  // namespace motion_computation
 
#endif  // MOTION_COMPUTATION__MOTION_COMPUTATION_NODE_HPP_