PointCloudNode.hpp

#ifndef POINT_CLOUD_NODE_HPP
#define POINT_CLOUD_NODE_HPP

#include <vector>
#include <ros/ros.h>
#include <HLR/FullWorld.h> //ROS srv
#include <HLR/World.h>     //ROS msg
#include <std_msgs/Header.h>
#include "Object.hpp"
#include "ObjectInterpreter.hpp"
#include <Vision/ICupDetector.hpp>

namespace HLR
{
namespace PointCloud
{
class PointCloudNode
{
public:
    explicit PointCloudNode(ros::Rate update_rate);
    [[noreturn]] void run();

private:
    const ros::Rate update_rate;

    ros::NodeHandle nh;
    ros::ServiceServer service;
    ros::Publisher publisher;
    ros::Timer timer;
    ObjectInterpreter interpreter;
    // TODO: how do we instantiate a CupDetector?
    std::unique_ptr<HLR::Vision::ICupDetector> cup_detector;

    void publish_world(const ros::TimerEvent& event);

    bool service_callback(HLR::FullWorld::Request& request,
                          HLR::FullWorld::Response& response);
    ros::Time last_data{};
};

} // namespace PointCloud
} // namespace HLR

#endif /* POINT_CLOUD_NODE_HPP */