object_visualizer_node.hpp

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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 <carma_perception_msgs/msg/external_object_list.hpp>
#include <carma_perception_msgs/msg/roadway_obstacle_list.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
#include <visualization_msgs/msg/marker.hpp>
 
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include "object_visualizer/object_visualizer_config.hpp"
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
namespace object_visualizer
{
 
  class Node : public carma_ros2_utils::CarmaLifecycleNode
  {
 
  private:
    // Subscribers
    carma_ros2_utils::SubPtr<carma_perception_msgs::msg::ExternalObjectList> external_objects_sub_;
    carma_ros2_utils::SubPtr<carma_perception_msgs::msg::RoadwayObstacleList> roadway_obstacles_sub_;
 
    // Publishers
    carma_ros2_utils::PubPtr<visualization_msgs::msg::MarkerArray> external_objects_viz_pub_;
    carma_ros2_utils::PubPtr<visualization_msgs::msg::MarkerArray> roadway_obstacles_viz_pub_;
 
    // Node configuration
    Config config_;
 
    // Previous object report sizes for clearing visualization on deleted objects
    size_t prev_external_objects_size_ = 0;
    size_t prev_roadway_obstacles_size_ = 0;
 
    void createPedestrianMarker(visualization_msgs::msg::Marker& marker,
                              const std_msgs::msg::Header& header,
                              const geometry_msgs::msg::Pose& pose,
                              size_t id,
                              const std::string& ns,
                              const geometry_msgs::msg::Vector3& size);
 
    void clear_and_update_old_objects(visualization_msgs::msg::MarkerArray &viz_msg, size_t &old_size);
 
  public:
    explicit Node(const rclcpp::NodeOptions &);
 
    rcl_interfaces::msg::SetParametersResult
    parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters);
 
    void external_objects_callback(carma_perception_msgs::msg::ExternalObjectList::UniquePtr msg);
 
    void roadway_obstacles_callback(carma_perception_msgs::msg::RoadwayObstacleList::UniquePtr msg);
 
 
    // Overrides
    carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
 
  };
 
} // object_visualizer