motors_command_parser_node.hpp

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// MIT License
 
// Copyright (c) 2023 Miguel Ángel González Santamarta
 
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
 
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
 
#ifndef MOTORS_COMMANDS_NODE_HPP
#define MOTORS_COMMANDS_NODE_HPP
 
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/float64_multi_array.hpp"
 
#include "rover_msgs/msg/motors_command.hpp"
 
class MotorsCommandParserNode : public rclcpp::Node {
public:
  MotorsCommandParserNode();
  void callback(const rover_msgs::msg::MotorsCommand::SharedPtr msg);
  int clamp(int range_min, int range_max, int value);
  float normalize(int range_min, int range_max, int value);
 
private:
  rclcpp::Subscription<rover_msgs::msg::MotorsCommand>::SharedPtr subscription;
  rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr
      velocity_publisher;
  rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr
      position_publisher;
};
 
#endif