template_control_plugin_node.hpp

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/*
 * Copyright (C) <SUB><year> 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 <std_msgs/msg/string.hpp>
#include <std_srvs/srv/empty.hpp>
 
#include <carma_guidance_plugins/control_plugin.hpp>
#include "<SUB><package_name>/<SUB><package_name>_config.hpp"
 
namespace <SUB><package_name>
{
 
  class Node : public carma_guidance_plugins::ControlPlugin
  {
 
  private:
    // Subscribers
    carma_ros2_utils::SubPtr<std_msgs::msg::String> example_sub_;
 
    // Publishers
    carma_ros2_utils::PubPtr<std_msgs::msg::String> example_pub_;
 
    // Service Clients
    carma_ros2_utils::ClientPtr<std_srvs::srv::Empty> example_client_;
 
    // Service Servers
    carma_ros2_utils::ServicePtr<std_srvs::srv::Empty> example_service_;
 
    // Timers
    rclcpp::TimerBase::SharedPtr example_timer_;
 
    // Node configuration
    Config config_;
 
  public:
    explicit Node(const rclcpp::NodeOptions &);
 
    rcl_interfaces::msg::SetParametersResult 
    parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters);
 
    void example_timer_callback();
 
    void example_callback(std_msgs::msg::String::UniquePtr msg);
 
    void example_service_callback(const std::shared_ptr<rmw_request_id_t> header,
                                  const std::shared_ptr<std_srvs::srv::Empty::Request> request,
                                  std::shared_ptr<std_srvs::srv::Empty::Response> response);
 
    // Overrides
    autoware_msgs::msg::ControlCommandStamped generate_command() override;
 
    bool get_availability() override;
 
    std::string get_version_id() override;
    
    carma_ros2_utils::CallbackReturn on_configure_plugin();
 
  };
 
} // <SUB><package_name>