45 lines
1.0 KiB
C++
45 lines
1.0 KiB
C++
#ifndef IO__ROS2_HPP
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#define IO__ROS2_HPP
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#include "publish2nav.hpp"
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#include "subscribe2nav.hpp"
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namespace io
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{
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class ROS2
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{
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public:
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ROS2();
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~ROS2();
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void publish(const Eigen::Vector4d & target_pos);
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std::vector<int8_t> subscribe_enemy_status();
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std::vector<int8_t> subscribe_autoaim_target();
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template <typename T>
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std::shared_ptr<rclcpp::Publisher<T>> create_publisher(
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const std::string & node_name, const std::string & topic_name, size_t queue_size)
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{
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auto node = std::make_shared<rclcpp::Node>(node_name);
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auto publisher = node->create_publisher<T>(topic_name, queue_size);
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// 运行一个单独的线程来 spin 这个节点，确保消息可以被正确发布
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std::thread([node]() { rclcpp::spin(node); }).detach();
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return publisher;
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}
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private:
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std::shared_ptr<Publish2Nav> publish2nav_;
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std::shared_ptr<Subscribe2Nav> subscribe2nav_;
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std::unique_ptr<std::thread> publish_spin_thread_;
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std::unique_ptr<std::thread> subscribe_spin_thread_;
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};
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} // namespace io
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#endif |