invictasim_node.hpp

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#pragma once
 
#include <chrono>
#include <memory>
#include <thread>
 
#include "config/config_parameters.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/float64.hpp"
#include "vehicle_model/vehicle_model.hpp"
 
class InvictaSimNode : public rclcpp::Node {
public:
  explicit InvictaSimNode(const InvictaSimParameters& params);
 
  ~InvictaSimNode() = default;
 
private:
  InvictaSimParameters params_;
 
  // Vehicle model
  std::shared_ptr<VehicleModel> vehicle_model_;
 
  // Simulation state
  double sim_time_;
  std::chrono::steady_clock::time_point next_loop_time_;
  rclcpp::TimerBase::SharedPtr simulation_timer_;
 
  // Publishers
  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr test_pub_;
 
  // Subscribers
 
  void init();
 
  void simulation_step();
};