test_p_pid.hpp

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#ifndef _TEST_PPID_HPP
#define _TEST_PPID_HPP
 
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <localization_msgs/msg/odometry.hpp>
#include <p_pid_controller/p_pid_controller.hpp>
#include <p_pid_controller_msgs/msg/targets.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace controller
{
 
class TestPPID : public rclcpp::Node
{
private:
  rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr pub_;
  rclcpp::Subscription<p_pid_controller_msgs::msg::Targets>::SharedPtr sub_targets_;
  rclcpp::Subscription<localization_msgs::msg::Odometry>::SharedPtr sub_odom_;
 
  rclcpp::TimerBase::SharedPtr timer_;
 
  std::shared_ptr<p_pid_controller_msgs::msg::Targets> targets_;
  std::shared_ptr<localization_msgs::msg::Odometry> odom_;
 
  std::shared_ptr<controller::P_PIDController> p_pid_ctrl_;
 
  uint8_t pre_z_mode = 0;
 
  void callback_target(const p_pid_controller_msgs::msg::Targets::UniquePtr msg);
 
  void callback_odom(localization_msgs::msg::Odometry::UniquePtr msg);
 
public:
  explicit TestPPID(const rclcpp::NodeOptions & options);
 
  void update();
};
 
}  // namespace controller
 
#endif