template_tactical_plugin_node.cpp

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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.
 */
#include "<SUB><package_name>/<SUB><package_name>_node.hpp"
 
namespace <SUB><package_name>
{
  namespace std_ph = std::placeholders;
 
  Node::Node(const rclcpp::NodeOptions &options)
      : carma_guidance_plugins::TacticalPlugin(options)
  {
    // Create initial config
    config_ = Config();
 
    // Declare parameters
    config_.example_param = declare_parameter<std::string>("example_param", config_.example_param);
  }
 
  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters)
  {
    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this method
    auto error = update_params<std::string>({{"example_param", config_.example_param}}, parameters);
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error;
 
    return result;
  }
 
  carma_ros2_utils::CallbackReturn Node::on_configure_plugin()
  {
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<std::string>("example_param", config_.example_param);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
    // Setup subscribers
    example_sub_ = create_subscription<std_msgs::msg::String>("example_input_topic", 10,
                                                              std::bind(&Node::example_callback, this, std_ph::_1));
 
    // Setup publishers
    example_pub_ = create_publisher<std_msgs::msg::String>("example_output_topic", 10);
 
    // Setup service clients
    example_client_ = create_client<std_srvs::srv::Empty>("example_used_service");
 
    // Setup service servers
    example_service_ = create_service<std_srvs::srv::Empty>("example_provided_service",
                                                            std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
    // Setup timers
    // NOTE: You will not be able to actually publish until in the ACTIVE state 
    // so it may often make more sense for timers to be created in handle_on_activate
    example_timer_ = create_timer(
        get_clock(),
        std::chrono::milliseconds(1000),
        std::bind(&Node::example_timer_callback, this));
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
  }
 
  // Parameter names not shown to prevent unused compile warning. The user may add them back
  void Node::example_service_callback(const std::shared_ptr<rmw_request_id_t>,
                                      const std::shared_ptr<std_srvs::srv::Empty::Request>,
                                      std::shared_ptr<std_srvs::srv::Empty::Response>)
  {
    RCLCPP_INFO(  get_logger(), "Example service callback");
  }
 
  void Node::example_timer_callback()
  {
    RCLCPP_DEBUG(get_logger(), "Example timer callback");
    std_msgs::msg::String msg;
    msg.data = "Hello World!";
    example_pub_->publish(msg);
  }
 
  void Node::example_callback(std_msgs::msg::String::UniquePtr msg)
  {
    RCLCPP_INFO_STREAM(  get_logger(), "example_sub_ callback called with value: " << msg->data);
  }
 
  void Node::plan_trajectory_callback(
    std::shared_ptr<rmw_request_id_t>, 
    carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, 
    carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp)
  {
    // TODO for user: Implement trajectory planning logic here by populating resp base on req.
  }
 
  bool Node::get_availability() {
    return true; // TODO for user implement actual check on availability if applicable to plugin
  }
 
  std::string Node::get_version_id() {
    return "TODO for user specify plugin version id here";
  }
 
} // <SUB><package_name>
 
#include "rclcpp_components/register_node_macro.hpp"
 
// Register the component with class_loader
RCLCPP_COMPONENTS_REGISTER_NODE(<SUB><package_name>::Node)