ROS2CallbackData.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include <cstdint>
#include <functional>
#include <variant>
 
namespace carla {
namespace ros2 {
 
  struct VehicleControl
  {
    float   throttle;
    float   steer;
    float   brake;
    bool    hand_brake;
    bool    reverse;
    int32_t gear;
    bool    manual_gear_shift;
  };
 
  struct AckermannControl
  {
    float steer;
    float steer_speed;
    float speed;
    float acceleration;
    float jerk;
  };
 
  /// Control decoded from Autoware's /control/command/control_cmd:
  /// longitudinal acceleration [m/s^2] + steering (CARLA sign convention,
  /// already passed through the AutowareSteeringCompensation LUT).
  struct VehicleAccelerationControl
  {
    float acceleration;
    float steer;
    float steer_speed;
  };
 
  struct MessageControl
  {
    const char* message;
  };
 
  using ROS2CallbackData =
      std::variant<VehicleControl, AckermannControl, VehicleAccelerationControl>;
  using ROS2MessageCallbackData = std::variant<MessageControl>;
 
  using ActorCallback = std::function<void(void *actor, ROS2CallbackData data)>;
  using ActorMessageCallback = std::function<void(void *actor, ROS2MessageCallbackData data)>;
 
} // namespace ros2
} // namespace carla