ros.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc_ros/api.h>
 
#include <mc_rtc/config.h>
 
#include <mc_rbdyn/Robots.h>
 
#include <SpaceVecAlg/SpaceVecAlg>
 
#include <Eigen/Geometry>
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#ifdef MC_RTC_ROS_IS_ROS2
namespace rclcpp
{
class Node;
}
#else
namespace ros
{
class NodeHandle;
}
#endif
 
namespace mc_rbdyn
{
struct Robot;
}
 
namespace mc_control
{
struct MCGlobalController;
} // namespace mc_control
 
namespace mc_rtc
{
 
struct ROSBridgeImpl;
 
#ifdef MC_RTC_ROS_IS_ROS2
using NodeHandlePtr = std::shared_ptr<rclcpp::Node>;
#else
using NodeHandlePtr = std::shared_ptr<ros::NodeHandle>;
#endif
 
struct MC_RTC_ROS_DLLAPI ROSBridge
{
  static NodeHandlePtr get_node_handle();
 
  static void set_publisher_timestep(double timestep);
 
  static void init_robot_publisher(const std::string & publisher,
                                   double dt,
                                   const mc_rbdyn::Robot & robot,
                                   bool use_real = false);
 
  static void update_robot_publisher(const std::string & publisher, double dt, const mc_rbdyn::Robot & robot);
 
  static void stop_robot_publisher(const std::string & publisher);
 
  static void remove_extra_robot_publishers(const mc_rbdyn::Robots & robots);
 
  static void shutdown();
 
private:
  static ROSBridgeImpl & impl_();
};
 
struct RobotPublisherImpl;
 
struct MC_RTC_ROS_DLLAPI RobotPublisher
{
public:
  RobotPublisher(const std::string & prefix, double rate, double dt);
 
  ~RobotPublisher();
 
  void init(const mc_rbdyn::Robot & robot, bool use_real = false);
 
  void update(double dt, const mc_rbdyn::Robot & robot);
 
  void set_rate(double rate);
 
private:
  std::unique_ptr<RobotPublisherImpl> impl;
};
 
} // namespace mc_rtc