36 lines
927 B
C++
36 lines
927 B
C++
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#pragma once
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#include <memory>
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#include <string>
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#include <sstream>
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#include "rclcpp/rclcpp.hpp"
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#include "gazebo_msgs/srv/spawn_entity.hpp"
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#include "cyberdog_marker/srv/place_marker.hpp"
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namespace cyberdog
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{
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namespace marker
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{
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class MarkerService : public rclcpp::Node
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{
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public:
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explicit MarkerService(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
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~MarkerService() = default;
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private:
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void handle_place_marker(
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const std::shared_ptr<cyberdog_marker::srv::PlaceMarker::Request> request,
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std::shared_ptr<cyberdog_marker::srv::PlaceMarker::Response> response);
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std::string generate_marker_sdf(const std::string & color, double radius = 0.05);
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rclcpp::Service<cyberdog_marker::srv::PlaceMarker>::SharedPtr place_marker_service_;
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rclcpp::Client<gazebo_msgs::srv::SpawnEntity>::SharedPtr spawn_entity_client_;
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int marker_count_;
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};
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} // namespace marker
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} // namespace cyberdog
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