36 lines
607 B
C++
36 lines
607 B
C++
#ifndef DEVICE__PBLISH2NAV_HPP
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#define DEVICE__PBLISH2NAV_HPP
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#include <Eigen/Dense> // For Eigen::Vector3d
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#include <chrono>
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#include <deque>
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#include <memory>
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#include <mutex>
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#include <optional>
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#include <string>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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namespace device
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{
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class Publish2Nav : public rclcpp::Node
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{
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public:
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Publish2Nav();
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~Publish2Nav();
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void start();
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void send_data(const Eigen::Vector4d & data);
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private:
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// ROS2 发布者
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
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};
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} // namespace device
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#endif // Publish2Nav_HPP_
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