tf_remapper_node.h

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#ifndef TF_REMAPPER_NODE_CPP_TF_REMAPPER_H
#define TF_REMAPPER_NODE_CPP_TF_REMAPPER_H

#include <ros/ros.h>
#include <tf2_msgs/TFMessage.h>
#include <ros/message.h>

#include <tf_remapper_cpp/tf_remapper.h>

namespace tf_remapper_cpp {

class TfRemapperNode {
public:
    TfRemapperNode();

    virtual ~TfRemapperNode() {};

protected:
    ros::NodeHandle publicNodeHandle; 
    ros::NodeHandle privateNodeHandle; 
    ros::Subscriber oldTfSubscriber; 
    ros::Subscriber remappedTfSubscriber; 
    ros::Publisher remappedTfPublisher; 
    ros::Publisher oldTfPublisher; 

    bool staticTf; 
    tf2_msgs::TFMessage staticTfCache; 
    tf2_msgs::TFMessage reverseStaticTfCache; 

    std::string oldTfTopic; 
    std::string remappedTfTopic; 

    TfRemapper tfRemapper; 
    TfRemapper reverseTfRemapper; 

    void oldTfCallback(const ros::MessageEvent<tf2_msgs::TFMessage const>& event);

    void remappedTfCallback(const ros::MessageEvent<tf2_msgs::TFMessage const>& event);

    void addToStaticTfCache(const tf2_msgs::TFMessage& message, tf2_msgs::TFMessage& cache) const;
};

};

#endif //TF_REMAPPER_NODE_CPP_TF_REMAPPER_H