From bcdc5bb25c30caa2398895d04c3b9abc44c7527b Mon Sep 17 00:00:00 2001
From: flochre <39066045+flochre@users.noreply.github.com>
Date: Tue, 15 Aug 2023 08:01:23 +0200
Subject: [PATCH] add a broadcaster for range sensor (#1091)

---
 .../semantic_components/range_sensor.hpp      | 60 +++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 controller_interface/include/semantic_components/range_sensor.hpp

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
new file mode 100644
index 0000000000..baa9022c75
--- /dev/null
+++ b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -0,0 +1,60 @@
+// Copyright 2023 flochre
+//
+// 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.
+
+#ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+#define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "semantic_components/semantic_component_interface.hpp"
+#include "sensor_msgs/msg/range.hpp"
+
+namespace semantic_components
+{
+class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
+{
+public:
+  explicit RangeSensor(const std::string & name) : SemanticComponentInterface(name, 1)
+  {
+    interface_names_.emplace_back(name_ + "/" + "range");
+  }
+
+  virtual ~RangeSensor() = default;
+
+  /**
+   * Return Range reported by a sensor
+   *
+   * \return value of the range in meters
+   */
+  float get_range() { return state_interfaces_[0].get().get_value(); }
+
+  /// Return Range message with range in meters
+  /**
+   * Constructs and return a Range message from the current values.
+   * \return Range message from values;
+   */
+  bool get_values_as_message(sensor_msgs::msg::Range & message)
+  {
+    // update the message values
+    message.range = get_range();
+
+    return true;
+  }
+};
+
+}  // namespace semantic_components
+
+#endif  // SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_