synchronized_string_parameter.h

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <std_msgs/msg/string.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace rdf_loader
{
using StringCallback = std::function<void(const std::string&)>;
 
class SynchronizedStringParameter
{
public:
  std::string loadInitialValue(const std::shared_ptr<rclcpp::Node>& node, const std::string& name,
                               const StringCallback& parent_callback = {}, bool default_continuous_value = false,
                               double default_timeout = 10.0);
 
protected:
  bool getMainParameter();
 
  bool shouldPublish();
 
  bool waitForMessage(const rclcpp::Duration& timeout);
 
  void stringCallback(const std_msgs::msg::String::ConstSharedPtr& msg);
 
  std::shared_ptr<rclcpp::Node> node_;
  std::string name_;
  StringCallback parent_callback_;
 
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr string_subscriber_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr string_publisher_;
 
  std::string content_;
};
}  // namespace rdf_loader