AckermannControlSubscriber.cpp

Go to the documentation of this file.

// 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>.
 
#include "carla/ros2/subscribers/AckermannControlSubscriber.h"
 
#include "carla/Logging.h"
#include "carla/ros2/ROS2CallbackData.h"
#include "carla/ros2/subscribers/AckermannControlConversion.h"
#include "carla/ros2/subscribers/SubscriberImpl.h"
#include "carla/ros2/types/msg/AckermannDriveStamped.h"
 
namespace carla {
namespace ros2 {
 
struct AckermannControlTraits {
  using msg_type = msg::AckermannDriveStamped;
};
 
AckermannControlSubscriber::AckermannControlSubscriber(
    void *vehicle, std::string base_topic_name, std::string frame_id)
  : BaseSubscriber(vehicle, std::move(base_topic_name), std::move(frame_id)),
    _impl(std::make_shared<SubscriberImpl<AckermannControlTraits>>()) {
  if (!_impl->Init(this->GetBaseTopicName() + "/ackermann_control_cmd")) {
    log_error("AckermannControlSubscriber failed to initialize on base topic",
              this->GetBaseTopicName());
  }
}
 
AckermannControlSubscriber::~AckermannControlSubscriber() = default;
 
ROS2CallbackData AckermannControlSubscriber::GetMessage() {
  auto message = _impl->GetMessage();
  return FromAckermannDrive(
      message.drive.steering_angle,
      message.drive.steering_angle_velocity,
      message.drive.speed,
      message.drive.acceleration,
      message.drive.jerk);
}
 
void AckermannControlSubscriber::ProcessMessages(ActorCallback callback) {
  if (_impl->HasNewMessage()) {
    auto control = this->GetMessage();
    callback(this->GetActor(), control);
  }
}
 
}  // namespace ros2
}  // namespace carla