pacsim.hpp

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#pragma once
 
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <std_srvs/srv/empty.hpp>
 
#include "common_lib/competition_logic/mission_logic.hpp"
#include "pacsim/msg/perception_detections.hpp"
#include "ros_node/slam_node.hpp"
 
class PacsimAdapter : public SLAMNode {
  rclcpp::Subscription<pacsim::msg::PerceptionDetections>::SharedPtr
      _perception_detections_subscription_;  
 
  rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr
      _velocities_subscription_;  
 
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr
      _imu_subscription_;  
 
  rclcpp::Client<std_srvs::srv::Empty>::SharedPtr
      _finished_client_;  
 
  rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedPtr param_client_;  // for mission logic
 
  void _pacsim_perception_subscription_callback(const pacsim::msg::PerceptionDetections& msg);
 
  void _pacsim_velocities_subscription_callback(
      const geometry_msgs::msg::TwistWithCovarianceStamped& msg);
 
  void _pacsim_imu_subscription_callback(const sensor_msgs::msg::Imu& msg);
 
  void fetch_discipline();
 
public:
  PacsimAdapter(const SLAMParameters& params);
 
  void finish() override;
};