emergency_surfacing.hpp

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#ifndef _EMERGENCY_SURFACING_HPP
#define _EMERGENCY_SURFACING_HPP
 
#include "geometry_msgs/msg/wrench_stamped.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 
namespace emergency
{
 
class EmergencySurfacing : public rclcpp_lifecycle::LifecycleNode
{
public:
  explicit EmergencySurfacing(const rclcpp::NodeOptions & options);
 
  // Lifecycle Callback
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
    const rclcpp_lifecycle::State & previous_state) override;
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
    const rclcpp_lifecycle::State & previous_state) override;
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
    const rclcpp_lifecycle::State & previous_state) override;
 
  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
    const rclcpp_lifecycle::State & previous_state) override;
 
private:
  void publish_emergency_force();
 
  rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::WrenchStamped>::SharedPtr pub_;
  rclcpp::TimerBase::SharedPtr timer_;
  double surfacing_force_;
};
 
}  // namespace emergency
 
#endif  // !_EMERGENCY_SURFACING_HPP