common.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
#include <iostream>
 
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Twist & msg);
 
std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Pose & msg);
 
std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::PoseStamped & msg);
 
std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Point & msg);
 
std::ostream & operator<<(std::ostream & out, const geometry_msgs::msg::Quaternion & msg);
 
template <typename T>
void declareOrSet(rclcpp_lifecycle::LifecycleNode::SharedPtr & node, std::string param, T & value)
{
  if (!node->has_parameter(param))
  {
    node->declare_parameter(param, value);
    // node->set_parameter(rclcpp::Parameter(param, value));
  }
}