Apollo 10.0
自动驾驶开放平台
apollo_ros_converter.h
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2 * Copyright 2023 The Apollo Authors. All Rights Reserved.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *****************************************************************************/
16
17#pragma once
18
19#include <memory>
20
22
23#include "cyber/proto/simple.pb.h"
24#include "cyber/cyber.h"
26
27#if __has_include("std_msgs/msg/string.hpp")
28#include "std_msgs/msg/int32.hpp"
29#include "std_msgs/msg/int64.hpp"
30#include "std_msgs/msg/int8.hpp"
31#include "std_msgs/msg/string.hpp"
32#define ENABLE_ROS_MSG
33#endif
34
36#ifdef ENABLE_ROS_MSG
37using OutputMsg0 = std_msgs::msg::String;
38#else
40#endif
41using OutputMsg0Ptr = std::shared_ptr<OutputMsg0>;
42using InputMsg0Ptr = std::shared_ptr<InputMsg0>;
43
44namespace apollo {
45namespace cyber {
46
49 InputTypes<InputMsg0Ptr>, OutputTypes<OutputMsg0Ptr>> {
50 public:
53
63};
64
67
68} // namespace cyber
69} // namespace apollo
std::shared_ptr< OutputMsg0 > OutputMsg0Ptr
std::shared_ptr< InputMsg0 > InputMsg0Ptr
virtual bool ConvertMsg(InputTypes< InputMsg0Ptr > &, OutputTypes< OutputMsg0Ptr > &)
convert the message between ros and apollo
#define CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(name, base)
class register implement
Definition arena_queue.h:37