41 lines
1.3 KiB
C++
41 lines
1.3 KiB
C++
#ifndef V2X_NODE_HPP_EUIC2VFR
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#define V2X_NODE_HPP_EUIC2VFR
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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#include "autoware_perception_msgs/msg/dynamic_object_array.hpp"
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#include "tf2_msgs/msg/tf_message.hpp"
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#include <boost/asio/io_service.hpp>
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#include "autoware_v2x/v2x_app.hpp"
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#include "autoware_v2x/cpm_application.hpp"
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#include "autoware_v2x/time_trigger.hpp"
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#include "autoware_v2x/link_layer.hpp"
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#include "autoware_v2x/ethernet_device.hpp"
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#include "autoware_v2x/positioning.hpp"
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#include "autoware_v2x/security.hpp"
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#include "autoware_v2x/router_context.hpp"
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namespace v2x
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{
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class V2XNode : public rclcpp::Node
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{
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public:
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explicit V2XNode(const rclcpp::NodeOptions &node_options);
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V2XApp *app;
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void publishObjects(std::vector<CpmApplication::Object> *);
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private:
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void objectsCallback(
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const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg);
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void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg);
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rclcpp::Subscription<autoware_perception_msgs::msg::DynamicObjectArray>::SharedPtr subscription_;
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rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscription_pos_;
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rclcpp::Publisher<autoware_perception_msgs::msg::DynamicObjectArray>::SharedPtr publisher_;
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double pos_lat_;
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double pos_lon_;
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};
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}
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#endif |