vehicle.hpp

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#pragma once
 
#include <nav_msgs/msg/odometry.hpp>
 
#include "custom_interfaces/msg/operational_status.hpp"
#include "ros_node/slam_node.hpp"
#include "std_srvs/srv/empty.hpp"
#include "std_srvs/srv/trigger.hpp"
#include "tf2_ros/static_transform_broadcaster.h"
 
class VehicleAdapter : public SLAMNode {
  rclcpp::Subscription<custom_interfaces::msg::OperationalStatus>::SharedPtr
      _operational_status_subscription_;  
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr _lidar_odometry_subscription_;
 
  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr
      _finished_client_;  
 
  std::shared_ptr<tf2_ros::StaticTransformBroadcaster>
      _tf_static_broadcaster_;  
 
public:
  VehicleAdapter(const SLAMParameters& params);
 
  void _lidar_odometry_subscription_callback(const nav_msgs::msg::Odometry& msg);
 
  void finish() override;
};