SimulationAdapterNode.hpp

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#ifndef SIMULATION_ADAPTER_NODE_HPP
#define SIMULATION_ADAPTER_NODE_HPP
 
#include <memory>
#include <mutex>
 
#include <rclcpp/rclcpp.hpp>
#include <galaxis/messages.hpp>
#include <galaxis/linatypes.hpp>
 
// Simulation Adapter Messages
#include <gazebo_simulation/msg/car_state.hpp>
#include <gazebo_simulation/msg/set_model_pose.hpp>
#include <gazebo_simulation/msg/set_model_twist.hpp>
#include <simulation_brain_link/msg/state.hpp>
#include <tf2_msgs/msg/tf_message.hpp>
 
#include <control/pose.hpp>
#include <control/control.hpp>
 
#include <utils/logger.hpp>
 
#include <mutex>
#include <atomic>
 
using namespace ::galaxis::lina;
 
class SimulationAdapterNode : public rclcpp::Node {
private:
  std::shared_ptr<CarPose> m_carPose;
  std::atomic<float> m_yawRate;
  std::atomic<float> m_speedPerSecond;
  std::atomic<bool> m_remoteControl;
 
  // Publishers
  rclcpp::Publisher<gazebo_simulation::msg::SetModelPose>::SharedPtr m_simulationCarRealStatePubSPtr;
 
  //Subscribers
  rclcpp::Subscription<ControlMotionType>::SharedPtr m_controlValuesSubSPtr;
  rclcpp::Subscription<SimulationVehicleControlType>::SharedPtr m_vehicleControlSubSPtr;
 
public:
  SimulationAdapterNode();
  ~SimulationAdapterNode();
 
private:
  void simulationUpdateLoop();
  void updatePose();
 
  std::mutex m_carPoseMtx;
 
  void vehicleControlCallback(SimulationVehicleControlType::SharedPtr msg);
};
 
#endif // SIMULATION_ADAPTER_NODE_HPP