roadway_objects_component.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 ROADWAY_OBJECTS__ROADWAY_OBJECTS_COMPONENT_HPP_
#define ROADWAY_OBJECTS__ROADWAY_OBJECTS_COMPONENT_HPP_
 
#include <carma_perception_msgs/msg/roadway_obstacle_list.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <carma_wm/WMListener.hpp>
#include <carma_wm/WorldModel.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_publisher.hpp>
 
#include <memory>
 
namespace roadway_objects
{
class RoadwayObjectsNode : public carma_ros2_utils::CarmaLifecycleNode
{
public:
  explicit RoadwayObjectsNode(const rclcpp::NodeOptions &);
 
  auto publish_obstacles(const carma_perception_msgs::msg::ExternalObjectList & msg) -> void;
 
  auto handle_on_configure(const rclcpp_lifecycle::State &)
    -> carma_ros2_utils::CallbackReturn override;
 
private:
  rclcpp::Subscription<carma_perception_msgs::msg::ExternalObjectList>::SharedPtr
    external_objects_sub_{nullptr};
 
  rclcpp_lifecycle::LifecyclePublisher<carma_perception_msgs::msg::RoadwayObstacleList>::SharedPtr
    roadway_obs_pub_{nullptr};
 
  std::shared_ptr<carma_wm::WMListener> wm_listener_{nullptr};
};
 
}  // namespace roadway_objects
 
#endif  // ROADWAY_OBJECTS__ROADWAY_OBJECTS_COMPONENT_HPP_