pacsim.hpp

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#pragma once
 
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#include <message_filters/time_synchronizer.h>
 
#include <std_srvs/srv/empty.hpp>
 
#include "adapter_ekf_state_est/adapter.hpp"
#include "pacsim/msg/perception_detections.hpp"
#include "pacsim/msg/stamped_scalar.hpp"
#include "pacsim/msg/wheels.hpp"
 
class SENode;
 
class PacsimAdapter : public Adapter {
  message_filters::Subscriber<pacsim::msg::Wheels>
      _pacsim_wheel_speeds_subscription_;  
  message_filters::Subscriber<pacsim::msg::StampedScalar>
      _steering_angle_subscription_;  
 
  using WheelSteerPolicy = message_filters::sync_policies::ApproximateTime<
      pacsim::msg::Wheels,
      pacsim::msg::StampedScalar>;  
  std::shared_ptr<message_filters::Synchronizer<WheelSteerPolicy>>
      _sync_;  
 
  rclcpp::Subscription<pacsim::msg::PerceptionDetections>::SharedPtr
      _perception_detections_subscription_;  
 
  rclcpp::Client<std_srvs::srv::Empty>::SharedPtr
      _finished_client_;  
 
  void wheel_speeds_subscription_callback(const pacsim::msg::Wheels& wheels_msg,
                                          const pacsim::msg::StampedScalar& steering_angle_msg);
 
  void perception_detections_subscription_callback(const pacsim::msg::PerceptionDetections& msg);
 
public:
  explicit PacsimAdapter(std::shared_ptr<SENode> se_node);
 
  void finish() final;
};