eufs.hpp

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#pragma once
 
#include "ackermann_msgs/msg/ackermann_drive_stamped.hpp"
#include "eufs_msgs/msg/car_state.hpp"
#include "ros_node/ros_node.hpp"
 
class EufsAdapter : public ControlNode {
private:
  rclcpp::Publisher<ackermann_msgs::msg::AckermannDriveStamped>::SharedPtr control_pub_;
  rclcpp::Subscription<eufs_msgs::msg::CarState>::SharedPtr vehicle_pose_sub_;
 
public:
  explicit EufsAdapter(const ControlParameters& params);
  void vehicle_state_callback(const eufs_msgs::msg::CarState& msg);
  void publish_command(common_lib::structures::ControlCommand cmd) override;
};