RemoteControl.hpp

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#ifndef REMOTE_CONTROL_HPP
#define REMOTE_CONTROL_HPP
 
#include <memory>
#include <mutex>
 
#include <rclcpp/rclcpp.hpp>
#include <galaxis/messages.hpp>
#include <galaxis/linatypes.hpp>
 
#include <memory>
 
class RemoteControl : public rclcpp::Node {
private:
  float m_speed = 1.f;
  float m_yaw   = 0.f;
  bool m_reset  = false;
  bool m_remoteEnabled = false;
 
  // Publishers
  rclcpp::Publisher<SimulationVehicleControlType>::SharedPtr m_publisherSPtr;
 
public:
  RemoteControl();
  ~RemoteControl();
 
private:
  void loop();
  void sendControlInputs();
};
 
#endif // REMOTE_CONTROL_HPP