fsds.hpp

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#pragma once
 
#include "adapter_ekf_state_est/adapter.hpp"
 
class SENode;
 
class FsdsAdapter : public Adapter {
  rclcpp::Subscription<fs_msgs::msg::GoSignal>::SharedPtr fsds_state_subscription_;
  rclcpp::Publisher<fs_msgs::msg::FinishedSignal>::SharedPtr fsds_ebs_publisher_;
 
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr _fs_imu_subscription_;
  rclcpp::Subscription<fs_msgs::msg::WheelStates>::SharedPtr _fs_wheel_speeds_subscription_;
 
public:
  explicit FsdsAdapter(std::shared_ptr<SENode> se_node);
 
  void mission_state_callback(const fs_msgs::msg::GoSignal& msg) const;
  void finish() final;
 
  void wheel_speeds_subscription_callback(const fs_msgs::msg::WheelStates& msg) const;
};