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feat(tier4_autoware_utils): add published time debug class into utils
Signed-off-by: Berkay Karaman <[email protected]>
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common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
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// Copyright 2020 Tier IV, 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. | ||
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#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_ | ||
#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_ | ||
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#include <rclcpp/rclcpp.hpp> | ||
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#include <autoware_common_msgs/msg/published_time.hpp> | ||
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namespace tier4_autoware_utils | ||
{ | ||
using autoware_common_msgs::msg::PublishedTime; | ||
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class PublishedTimePublisher | ||
{ | ||
public: | ||
explicit PublishedTimePublisher( | ||
rclcpp::Node * node, const std::string & name = "~/debug/published_time", | ||
const rclcpp::QoS & qos = rclcpp::QoS(1)) | ||
{ | ||
pub_published_time_ = node->create_publisher<PublishedTime>(name, qos); | ||
} | ||
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void publish(const rclcpp::Time & header_stamp) const | ||
{ | ||
// Check if there are any subscribers, otherwise don't do anything | ||
if (pub_published_time_->get_subscription_count() > 0) { | ||
PublishedTime published_time; | ||
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published_time.header_stamp = header_stamp; | ||
published_time.published_stamp = rclcpp::Clock().now(); | ||
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pub_published_time_->publish(published_time); | ||
} | ||
} | ||
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private: | ||
rclcpp::Publisher<PublishedTime>::SharedPtr pub_published_time_; | ||
}; | ||
} // namespace tier4_autoware_utils | ||
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#endif // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_ |
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