current_state_monitor_middleware_handle.cpp

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/* Author: Tyler Weaver */
 
#include <tf2_ros/qos.hpp>
#include <moveit/planning_scene_monitor/current_state_monitor_middleware_handle.hpp>
#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/qos.hpp>
#include <rclcpp/version.h>
#if RCLCPP_VERSION_GTE(20, 0, 0)
#include <rclcpp/event_handler.hpp>
#else
#include <rclcpp/qos_event.hpp>
#endif
#include <rclcpp/subscription.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
#include <chrono>
#include <string>
 
#include <moveit/planning_scene_monitor/current_state_monitor_middleware_handle.hpp>
 
namespace planning_scene_monitor
{
 
CurrentStateMonitorMiddlewareHandle::CurrentStateMonitorMiddlewareHandle(const rclcpp::Node::SharedPtr& node)
  : node_(node)
{
}
 
rclcpp::Time CurrentStateMonitorMiddlewareHandle::now() const
{
  return node_->now();
}
 
void CurrentStateMonitorMiddlewareHandle::createJointStateSubscription(const std::string& topic,
                                                                       JointStateUpdateCallback callback)
{
  joint_state_subscription_ =
      node_->create_subscription<sensor_msgs::msg::JointState>(topic, rclcpp::SystemDefaultsQoS(), callback);
}
 
void CurrentStateMonitorMiddlewareHandle::resetJointStateSubscription()
{
  joint_state_subscription_.reset();
}
 
std::string CurrentStateMonitorMiddlewareHandle::getJointStateTopicName() const
{
  if (joint_state_subscription_)
  {
    return joint_state_subscription_->get_topic_name();
  }
  else
  {
    return "";
  }
}
 
bool CurrentStateMonitorMiddlewareHandle::sleepFor(const std::chrono::nanoseconds& nanoseconds) const
{
  return rclcpp::sleep_for(nanoseconds);
}
 
bool CurrentStateMonitorMiddlewareHandle::ok() const
{
  return rclcpp::ok();
}
 
void CurrentStateMonitorMiddlewareHandle::createDynamicTfSubscription(TfCallback callback)
{
  transform_subscriber_ =
      node_->create_subscription<tf2_msgs::msg::TFMessage>("/tf", tf2_ros::DynamicListenerQoS(), callback);
}
 
void CurrentStateMonitorMiddlewareHandle::createStaticTfSubscription(TfCallback callback)
{
  static_transform_subscriber_ =
      node_->create_subscription<tf2_msgs::msg::TFMessage>("/tf_static", tf2_ros::StaticListenerQoS(), callback);
}
 
std::string CurrentStateMonitorMiddlewareHandle::getStaticTfTopicName() const
{
  return static_transform_subscriber_ ? static_transform_subscriber_->get_topic_name() : "";
}
 
std::string CurrentStateMonitorMiddlewareHandle::getDynamicTfTopicName() const
{
  return transform_subscriber_ ? transform_subscriber_->get_topic_name() : "";
}
 
void CurrentStateMonitorMiddlewareHandle::resetTfSubscriptions()
{
  transform_subscriber_.reset();
  static_transform_subscriber_.reset();
}
 
}  // namespace planning_scene_monitor