mocker_node.hpp

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#pragma once
 
#include <chrono>
#include <cmath>
#include <functional>
#include <memory>
#include <string>
 
#include "common_lib/communication/interfaces.hpp"
#include "common_lib/communication/marker.hpp"
#include "fs_msgs/msg/finished_signal.hpp"
#include "fs_msgs/msg/go_signal.hpp"
#include "rclcpp/rclcpp.hpp"
#include "utils/mocks.hpp"
#include "visualization_msgs/msg/marker.hpp"
 
class MockerNode : public rclcpp::Node {
private:
  rclcpp::Publisher<custom_interfaces::msg::PathPointArray>::SharedPtr planning_publisher;
  rclcpp::Publisher<custom_interfaces::msg::ConeArray>::SharedPtr se_publisher;
  rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr planning_visualization_publisher;
 
  rclcpp::TimerBase::SharedPtr timer_;
 
  std::string _map_frame_id_;
 
public:
  custom_interfaces::msg::PathPointArray gtruth_planning;  // ground truth for the planning node
  custom_interfaces::msg::ConeArray gtruth_se;  // ground truth for the state estimation node
 
  void publish_data();
 
  MockerNode();
};