19 #ifndef RANGE_SENSOR_BROADCASTER__RANGE_SENSOR_BROADCASTER_HPP_
20 #define RANGE_SENSOR_BROADCASTER__RANGE_SENSOR_BROADCASTER_HPP_
24 #include "controller_interface/controller_interface.hpp"
25 #include "range_sensor_broadcaster/visibility_control.h"
26 #include "range_sensor_broadcaster_parameters.hpp"
27 #include "rclcpp_lifecycle/state.hpp"
28 #include "realtime_tools/realtime_publisher.hpp"
29 #include "semantic_components/range_sensor.hpp"
30 #include "sensor_msgs/msg/range.hpp"
32 namespace range_sensor_broadcaster
37 RANGE_SENSOR_BROADCASTER_PUBLIC
40 RANGE_SENSOR_BROADCASTER_PUBLIC
43 RANGE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn
on_init()
override;
45 RANGE_SENSOR_BROADCASTER_PUBLIC
46 controller_interface::CallbackReturn on_configure(
47 const rclcpp_lifecycle::State & previous_state)
override;
49 RANGE_SENSOR_BROADCASTER_PUBLIC
50 controller_interface::CallbackReturn on_activate(
51 const rclcpp_lifecycle::State & previous_state)
override;
53 RANGE_SENSOR_BROADCASTER_PUBLIC
54 controller_interface::CallbackReturn on_deactivate(
55 const rclcpp_lifecycle::State & previous_state)
override;
57 RANGE_SENSOR_BROADCASTER_PUBLIC
58 controller_interface::return_type
update(
59 const rclcpp::Time & time,
const rclcpp::Duration & period)
override;
62 std::shared_ptr<ParamListener> param_listener_;
65 std::unique_ptr<semantic_components::RangeSensor> range_sensor_;
68 rclcpp::Publisher<sensor_msgs::msg::Range>::SharedPtr sensor_state_publisher_;
69 std::unique_ptr<StatePublisher> realtime_publisher_;
Definition: controller_interface.hpp:28
Definition: range_sensor_broadcaster.hpp:35
RANGE_SENSOR_BROADCASTER_PUBLIC controller_interface::CallbackReturn on_init() override
Extending interface with initialization method which is individual for each controller.
Definition: range_sensor_broadcaster.cpp:26
RANGE_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration command_interface_configuration() const override
Get configuration for controller's required command interfaces.
Definition: range_sensor_broadcaster.cpp:93
RANGE_SENSOR_BROADCASTER_PUBLIC controller_interface::InterfaceConfiguration state_interface_configuration() const override
Get configuration for controller's required state interfaces.
Definition: range_sensor_broadcaster.cpp:100
RANGE_SENSOR_BROADCASTER_PUBLIC controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
Definition: range_sensor_broadcaster.cpp:123
Configuring what command/state interfaces to claim.
Definition: controller_interface_base.hpp:58