or_autoware_auto.hpp

Go to the documentation of this file.

// 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 <chrono>
 
#include "sm_autoware_avp/clients/autoware_client/cl_autoware.hpp"
#include "smacc2/smacc.hpp"
 
namespace sm_autoware_avp
{
 
class OrAutowareAuto : public smacc2::Orthogonal<OrAutowareAuto>
{
public:
  void onInitialize() override
  {
    auto client = this->createClient<sm_autoware_avp::clients::ClAutoware>();
 
    client->createNamedComponent<
      smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseWithCovarianceStamped>>(
      "initialPoseEstimation", "/localization/initialpose");
 
    client->createNamedComponent<
      smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseStamped>>(
      "goalPose", "planning/goal_pose");
 
    client->createNamedComponent<
      smacc2::components::CpTopicSubscriber<geometry_msgs::msg::PoseWithCovarianceStamped>>(
      "ndtPose", "/localization/ndt_pose");
  }
};
}  // namespace sm_autoware_avp