MobileBaseVelocityControl_nws_ros2.h

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_ROS2
#define YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_ROS2
 
#include <yarp/os/Network.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <Ros2Spinner.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/INavigation2D.h>
#include <yarp/dev/WrapperSingle.h>
#include <geometry_msgs/msg/twist.hpp>
#include <rclcpp/rclcpp.hpp>
#include "MobileBaseVelocityControl_nws_ros2_ParamsParser.h"
 
#include <mutex>
#include <string>
 
class Ros2InitMobVel
{
public:
    Ros2InitMobVel();
 
    std::shared_ptr<rclcpp::Node> node;
 
    static Ros2InitMobVel& get();
};
 
class MobileBaseVelocityControl_nws_ros2 :
    public yarp::dev::DeviceDriver,
    public yarp::dev::WrapperSingle,
    MobileBaseVelocityControl_nws_ros2_ParamsParser
{
 
public:
    MobileBaseVelocityControl_nws_ros2() = default;
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    bool detach() override;
    bool attach(yarp::dev::PolyDriver* driver) override;
 
private:
    // Spinner
    Ros2Spinner*                  m_spinner{nullptr};
 
    rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr m_ros2_subscriber;
    rclcpp::Node::SharedPtr m_node;
    yarp::dev::Nav2D::INavigation2DVelocityActions* m_iNavVel = nullptr;
    yarp::dev::PolyDriver         m_subdev;
    void twist_callback(const geometry_msgs::msg::Twist::SharedPtr msg);
 
};
 
#endif // YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_ROS2