Apollo
10.0
自动驾驶开放平台
apollo_ros_converter.h
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/******************************************************************************
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* Copyright 2023 The Apollo Authors. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*****************************************************************************/
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#pragma once
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#include <memory>
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#include "
cyber/ros_bridge/converter_base/converter_interface.h
"
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#include "cyber/proto/simple.pb.h"
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#include "
cyber/cyber.h
"
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#include "
cyber/plugin_manager/plugin_manager.h
"
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#if __has_include("std_msgs/msg/string.hpp")
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#include "std_msgs/msg/int32.hpp"
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#include "std_msgs/msg/int64.hpp"
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#include "std_msgs/msg/int8.hpp"
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#include "std_msgs/msg/string.hpp"
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#define ENABLE_ROS_MSG
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#endif
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using
InputMsg0
=
apollo::cyber::proto::SimpleMessage
;
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#ifdef ENABLE_ROS_MSG
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using
OutputMsg0
= std_msgs::msg::String;
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#else
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using
OutputMsg0
=
apollo::cyber::proto::SimpleRepeatedMessage
;
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#endif
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using
OutputMsg0Ptr
= std::shared_ptr<OutputMsg0>;
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using
InputMsg0Ptr
= std::shared_ptr<InputMsg0>;
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namespace
apollo
{
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namespace
cyber {
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class
ApolloRosConverter
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:
public
apollo::cyber::ApolloRosMessageConverter
<
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InputTypes<InputMsg0Ptr>, OutputTypes<OutputMsg0Ptr>> {
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public
:
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ApolloRosConverter
() {}
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~ApolloRosConverter
() {}
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virtual
bool
ConvertMsg
(
InputTypes<InputMsg0Ptr>
&,
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OutputTypes<OutputMsg0Ptr>
&);
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};
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CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN
(
apollo::cyber::ApolloRosConverter
,
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apollo::cyber::MessageConverter
)
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}
// namespace cyber
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}
// namespace apollo
OutputMsg0Ptr
std::shared_ptr< OutputMsg0 > OutputMsg0Ptr
Definition
apollo_ros_converter.h:41
InputMsg0Ptr
std::shared_ptr< InputMsg0 > InputMsg0Ptr
Definition
apollo_ros_converter.h:42
apollo::cyber::ApolloRosConverter
Definition
apollo_ros_converter.h:49
apollo::cyber::ApolloRosConverter::ApolloRosConverter
ApolloRosConverter()
Definition
apollo_ros_converter.h:51
apollo::cyber::ApolloRosConverter::ConvertMsg
virtual bool ConvertMsg(InputTypes< InputMsg0Ptr > &, OutputTypes< OutputMsg0Ptr > &)
convert the message between ros and apollo
Definition
apollo_ros_converter.cc:22
apollo::cyber::ApolloRosConverter::~ApolloRosConverter
~ApolloRosConverter()
Definition
apollo_ros_converter.h:52
apollo::cyber::ApolloRosMessageConverter
Definition
converter_base.h:45
apollo::cyber::MessageConverter
Definition
message_converter.h:48
converter_interface.h
plugin_manager.h
CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN
#define CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(name, base)
Definition
plugin_manager.h:272
cyber.h
apollo
class register implement
Definition
arena_queue.h:37
apollo::cyber::InputTypes
Definition
converter_base.h:33
apollo::cyber::OutputTypes
Definition
converter_base.h:39
apollo::cyber::proto::SimpleMessage
Definition
simple.proto:5
apollo::cyber::proto::SimpleRepeatedMessage
Definition
simple.proto:10
cyber
ros_bridge
converters
examples
apollo_ros_converter
apollo_ros_converter.h