adapter.hpp

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#pragma once
 
#include <string>
 
#include "eufs_msgs/msg/can_state.hpp"
#include "eufs_msgs/msg/wheel_speeds_stamped.hpp"
#include "eufs_msgs/srv/set_can_state.hpp"
#include "fs_msgs/msg/finished_signal.hpp"
#include "fs_msgs/msg/go_signal.hpp"
#include "fs_msgs/msg/wheel_states.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/imu.hpp"
 
class SENode;
 
class Adapter {
public:
  std::shared_ptr<SENode> node_;
 
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr _imu_subscription_;
 
  explicit Adapter(std::shared_ptr<SENode> se_node);
  virtual void finish() = 0;  
 
  void imu_subscription_callback(const sensor_msgs::msg::Imu& msg);
 
  virtual ~Adapter() = default;
};