vehicle.hpp

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#pragma once
 
#include "custom_interfaces/msg/control_command.hpp"
#include "custom_interfaces/msg/operational_status.hpp"
#include "ros_node/ros_node.hpp"
#include "common_lib/competition_logic/mission_logic.hpp"
 
class VehicleAdapter : public ControlNode {
private:
  rclcpp::Subscription<custom_interfaces::msg::OperationalStatus>::SharedPtr go_sub_;
 
  rclcpp::Publisher<custom_interfaces::msg::ControlCommand>::SharedPtr control_pub_;
 
public:
  explicit VehicleAdapter(const ControlParameters &params);
  void publish_command(common_lib::structures::ControlCommand cmd) override;
  void go_signal_callback(const custom_interfaces::msg::OperationalStatus msg);
};