AckermannControlSubscriber.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 <memory>
#include <string>
 
#include "carla/ros2/ROS2CallbackData.h"
#include "carla/ros2/subscribers/BaseSubscriber.h"
 
namespace carla {
namespace ros2 {
 
// Forward declarations keep the FastDDS-heavy SubscriberImpl<> definition out of the
// main carla-server compile unit. The full instantiation lives in
// AckermannControlSubscriber.cpp, which is built by the carla-ros2-native
// ExternalProject (where FastDDS headers are on the include path).
template <typename Traits> class SubscriberImpl;
struct AckermannControlTraits;
 
class AckermannControlSubscriber : public BaseSubscriber {
public:
  AckermannControlSubscriber(void *vehicle, std::string base_topic_name, std::string frame_id);
  ~AckermannControlSubscriber() override;
 
  void ProcessMessages(ActorCallback callback) override;
 
protected:
  ROS2CallbackData GetMessage() override;
 
private:
  std::shared_ptr<SubscriberImpl<AckermannControlTraits>> _impl;
};
 
}  // namespace ros2
}  // namespace carla