cb_wait_transform.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.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
#include <tf2/transform_datatypes.h>
#include <tf2/utils.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
namespace cl_nav2z
{
class CbWaitTransform : public smacc2::SmaccAsyncClientBehavior
{
public:
  CbWaitTransform(std::string targetFrame, std::string referenceFrame, rclcpp::Duration timeout);
 
  virtual ~CbWaitTransform();
 
  template <typename TOrthogonal, typename TSourceObject>
  void onOrthogonalAllocation()
  {
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }
 
  void onEntry() override;
 
protected:
  // shared static listener
  std::shared_ptr<tf2_ros::Buffer> tfBuffer_;
  std::shared_ptr<tf2_ros::TransformListener> tfListener_;
 
  std::string targetFrame_;
  std::string referenceFrame_;
  rclcpp::Duration timeout_;
 
  std::optional<tf2::Stamped<tf2::Transform>> result_;
};
}  // namespace cl_nav2z