odom_subscriber.hpp

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#ifndef NAV_2D_UTILS__ODOM_SUBSCRIBER_HPP_
#define NAV_2D_UTILS__ODOM_SUBSCRIBER_HPP_
 
#include <cmath>
#include <memory>
#include <mutex>
#include <string>
#include "nav_2d_msgs/msg/twist2_d_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/node_utils.hpp"
 
namespace nav_2d_utils
{
 
class OdomSubscriber
{
public:
  explicit OdomSubscriber(
    nav2_util::LifecycleNode::SharedPtr nh,
    std::string default_topic = "odom")
  {
    nav2_util::declare_parameter_if_not_declared(
      nh, "odom_topic", rclcpp::ParameterValue(default_topic));
 
    std::string odom_topic;
    nh->get_parameter_or("odom_topic", odom_topic, default_topic);
    odom_sub_ =
      nh->create_subscription<nav_msgs::msg::Odometry>(
      odom_topic,
      rclcpp::SystemDefaultsQoS(),
      std::bind(&OdomSubscriber::odomCallback, this, std::placeholders::_1));
  }
 
  inline nav_2d_msgs::msg::Twist2D getTwist()
  {
    std::lock_guard<std::mutex> lock(odom_mutex_);
    return odom_vel_.velocity;
  }
  inline nav_2d_msgs::msg::Twist2DStamped getTwistStamped()
  {
    std::lock_guard<std::mutex> lock(odom_mutex_);
    return odom_vel_;
  }
 
protected:
  void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)
  {
    // ROS_INFO_ONCE("odom received!");
    std::lock_guard<std::mutex> lock(odom_mutex_);
    odom_vel_.header = msg->header;
    odom_vel_.velocity.x = msg->twist.twist.linear.x;
    odom_vel_.velocity.y = msg->twist.twist.linear.y;
    odom_vel_.velocity.theta = msg->twist.twist.angular.z;
  }
 
  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
  nav_2d_msgs::msg::Twist2DStamped odom_vel_;
  std::mutex odom_mutex_;
};
 
}  // namespace nav_2d_utils
 
#endif  // NAV_2D_UTILS__ODOM_SUBSCRIBER_HPP_