pacsim_adapter.hpp

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#pragma once
 
#include "common_lib/sensor_data/imu.hpp"
#include "common_lib/sensor_data/wheel_encoders.hpp"
#include "node/node.hpp"
#include "pacsim/msg/stamped_scalar.hpp"
#include "pacsim/msg/wheels.hpp"
#include "sensor_msgs/msg/imu.hpp"
 
class PacsimAdapter : public VENode {
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr _imu_sub_;
  rclcpp::Subscription<pacsim::msg::Wheels>::SharedPtr wheel_speeds_sub_;
  rclcpp::Subscription<pacsim::msg::StampedScalar>::SharedPtr _steering_angle_sub_;
 
public:
  explicit PacsimAdapter(const VEParameters& parameters);
  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg);
  void wss_callback(const pacsim::msg::Wheels::SharedPtr msg);
  void steering_angle_callback(const pacsim::msg::StampedScalar::SharedPtr msg);
};