pdla_feedback_repub.hpp

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#ifndef _PDLA_FEEDBACK_REPUB_HPP
#define _PDLA_FEEDBACK_REPUB_HPP
 
#include "planner_msgs/action/pdla.hpp"
#include "planner_msgs/msg/pdla_feedback.hpp"
#include "rclcpp/rclcpp.hpp"
 
namespace planner::pdla_planner
{
 
class PDLAFeedbackRepub : public rclcpp::Node
{
public:
  // Action type definition
  using PDLA = planner_msgs::action::PDLA;
  using ActionFeedbackMsg = PDLA::Impl::FeedbackMessage;
  using CustomFeedbackMsg = planner_msgs::msg::PDLAFeedback;
 
  explicit PDLAFeedbackRepub(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
  virtual ~PDLAFeedbackRepub();
 
private:
  // Subscriber for the raw action feedback
  rclcpp::Subscription<ActionFeedbackMsg>::SharedPtr action_feedback_sub_;
 
  // Publisher for the custom message
  rclcpp::Publisher<CustomFeedbackMsg>::SharedPtr custom_feedback_pub_;
 
  void feedback_callback(const ActionFeedbackMsg::SharedPtr msg);
};
}  // namespace planner::pdla_planner
 
#endif  // PDLA_FEEDBACK_REPUB_HPP_