63 const std::string& channel_name =
"",
64 nlohmann::json* subscribe_param =
nullptr)
override;
65 void StopStream(
const std::string& channel_name)
override;
66 void OnTimer(
const std::string& channel_name =
"");
67 void PublishMessage(
const std::string& channel_name =
"")
override;
73 bool enabled_ =
false;
75 std::unique_ptr<cyber::Node> node_;
76 std::map<std::string, ObstacleChannelUpdater*> obstacle_channel_updater_map_;
77 std::mutex channel_updater_map_mutex_;
78 std::mutex updater_publish_mutex_;
79 std::shared_ptr<cyber::Reader<LocalizationEstimate>> localization_reader_;
82 const std::string& channel_name);
92 void SetADCPosition(
Object* auto_driving_car);
93 void OnObstacles(
const std::shared_ptr<PerceptionObstacles>& obstacles,
94 const std::string& channel_name);
95 void GetObjects(std::string* to_send, std::string channel_name);
97 const std::shared_ptr<LocalizationEstimate>& localization);