state_interfaces_broadcaster.hpp

// Copyright (c) 2025, PAL Robotics
//
// 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.
 
#ifndef STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_
#define STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "control_msgs/msg/float64_values.hpp"
#include "control_msgs/msg/keys.hpp"
#include "controller_interface/controller_interface.hpp"
#include "realtime_tools/realtime_publisher.hpp"
 
// auto-generated by generate_parameter_library
#include "state_interfaces_broadcaster/state_interfaces_broadcaster_parameters.hpp"
 
namespace state_interfaces_broadcaster
{
class StateInterfacesBroadcaster : public controller_interface::ControllerInterface
{
public:
  StateInterfacesBroadcaster();
 
  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
  controller_interface::return_type update(
    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
  controller_interface::CallbackReturn on_init() override;
 
  controller_interface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;
 
  controller_interface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;
 
protected:
  // Optional parameters
  std::shared_ptr<ParamListener> param_listener_;
  Params params_;
 
  // publishers and messages
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::Keys>> names_publisher_;
  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::Float64Values>> values_publisher_;
  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::Float64Values>>
    realtime_values_publisher_;
  control_msgs::msg::Keys names_msg_;
  control_msgs::msg::Float64Values values_msg_;
};
 
}  // namespace state_interfaces_broadcaster
 
#endif  // STATE_INTERFACES_BROADCASTER__STATE_INTERFACES_BROADCASTER_HPP_