current_state_monitor_middleware_handle.hpp

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/* Author: Tyler Weaver */
 
#pragma once
 
#include <chrono>
#include <string>
 
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
 
#include <moveit/planning_scene_monitor/current_state_monitor.h>
 
namespace planning_scene_monitor
{
class CurrentStateMonitorMiddlewareHandle : public CurrentStateMonitor::MiddlewareHandle
{
public:
  CurrentStateMonitorMiddlewareHandle(const rclcpp::Node::SharedPtr& node);
 
  rclcpp::Time now() const override;
 
  void createJointStateSubscription(const std::string& topic, JointStateUpdateCallback callback) override;
 
  void createStaticTfSubscription(std::function<void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)> callback) override;
 
  void
  createDynamicTfSubscription(std::function<void(const tf2_msgs::msg::TFMessage::ConstSharedPtr)> callback) override;
 
  void resetJointStateSubscription() override;
 
  std::string getJointStateTopicName() const override;
 
  bool sleepFor(const std::chrono::nanoseconds& nanoseconds) const override;
 
  bool ok() const override;
 
  std::string getStaticTfTopicName() const override;
 
  std::string getDynamicTfTopicName() const override;
 
  void resetTfSubscriptions() override;
 
private:
  rclcpp::Node::SharedPtr node_;
  rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_subscription_;
  rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr transform_subscriber_;
  rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr static_transform_subscriber_;
};
 
}  // namespace planning_scene_monitor