ros2Helpers.hpp

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#ifndef PACSIMROS2HELPERS_HPP
#define PACSIMROS2HELPERS_HPP
 
#include "rclcpp/rclcpp.hpp"
 
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/twist_with_covariance_stamped.hpp"
#include "pacsim/msg/gnss.hpp"
#include "pacsim/msg/perception_detections.hpp"
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "types.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
#include <Eigen/Dense>
#include <string>
#include <tf2/LinearMath/Quaternion.h>
 
class LandmarksMarkerWrapper
{
public:
    LandmarksMarkerWrapper(double alpha, std::string nameSpace);
 
    visualization_msgs::msg::MarkerArray markerFromLMs(Track& in, std::string frame, double time);
 
    visualization_msgs::msg::MarkerArray deleteAllMsg(std::string frame);
 
private:
    double alpha = 0.3;
    std::string nameSpace = "pacsim";
    int lastMaxId;
};
 
pacsim::msg::PerceptionDetections LandmarkListToRosMessage(
    const LandmarkList& sensorLms, std::string frameId, double time);
 
sensor_msgs::msg::Imu createRosImuMsg(const ImuData& data);
 
geometry_msgs::msg::TwistWithCovarianceStamped createRosTwistMsg(
    const Eigen::Vector3d& vel, const Eigen::Vector3d& rot, const std::string& frame, double time);
 
geometry_msgs::msg::TransformStamped createRosTransformMsg(const Eigen::Vector3d& trans, const Eigen::Vector3d& rot,
    const std::string& frame, const std::string& child_frame, double time);
 
geometry_msgs::msg::TransformStamped createStaticTransform(
    const std::string& frame, const std::string& child_frame, double time);
 
sensor_msgs::msg::JointState createRosJointMsg(
    const std::vector<std::string>& joint_names, const std::vector<double>& joint_vals, double time);
 
pacsim::msg::GNSS createRosGnssMessage(const GnssData& data);
 
#endif /* PACSIMROS2HELPERS_HPP */