MobileBaseVelocityControl_nws_ros.h

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/*
 * SPDX-FileCopyrightText: 2006-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_ROS
#define YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_ROS
 
#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 <yarp/os/Subscriber.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/INavigation2D.h>
#include <yarp/os/Node.h>
#include <yarp/rosmsg/geometry_msgs/Twist.h>
#include <yarp/dev/WrapperSingle.h>
 
#include <mutex>
#include <string>
 
class commandSubscriber :
    public yarp::os::Subscriber<yarp::rosmsg::geometry_msgs::Twist>
{
    public:
    void init(yarp::dev::Nav2D::INavigation2DVelocityActions* m_iNavVel);
    void deinit();
 
    ~commandSubscriber ();
    commandSubscriber ();
    yarp::dev::Nav2D::INavigation2DVelocityActions* m_iNavVel = nullptr;
 
    using yarp::os::Subscriber<yarp::rosmsg::geometry_msgs::Twist>::onRead;
    virtual void onRead (yarp::rosmsg::geometry_msgs::Twist& v) override;
};
 
class MobileBaseVelocityControl_nws_ros :
    public yarp::dev::DeviceDriver,
    public yarp::dev::WrapperSingle
{
protected:
    std::string                   m_ros_node_name = "/mobileBase_VelControl_nws_ros";
    std::string                   m_ros_topic_name = "/velocity_input";
    yarp::os::Node*               m_ros_node = nullptr;
    commandSubscriber*            m_command_subscriber = nullptr;
 
    yarp::dev::PolyDriver         m_subdev;
 
public:
    virtual ~MobileBaseVelocityControl_nws_ros () {};
    MobileBaseVelocityControl_nws_ros() {};
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
private:
    bool detach() override;
    bool attach(yarp::dev::PolyDriver* driver) override;
};
 
#endif // YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_ROS