CarlaEgoVehicleControlSubscriber.cpp

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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>.
 
#include "carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h"
 
#include "carla/Logging.h"
#include "carla/ros2/ROS2CallbackData.h"
#include "carla/ros2/subscribers/SubscriberImpl.h"
#include "carla/ros2/types/msg/CarlaEgoVehicleControl.h"
 
namespace carla {
namespace ros2 {
 
struct CarlaEgoVehicleControlTraits {
  using msg_type = msg::CarlaEgoVehicleControl;
};
 
CarlaEgoVehicleControlSubscriber::CarlaEgoVehicleControlSubscriber(
    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<CarlaEgoVehicleControlTraits>>()) {
  if (!_impl->Init(this->GetBaseTopicName() + "/vehicle_control_cmd")) {
    log_error("CarlaEgoVehicleControlSubscriber failed to initialize on base topic",
              this->GetBaseTopicName());
  }
}
 
CarlaEgoVehicleControlSubscriber::~CarlaEgoVehicleControlSubscriber() = default;
 
ROS2CallbackData CarlaEgoVehicleControlSubscriber::GetMessage() {
  auto message = _impl->GetMessage();
 
  VehicleControl control;
  control.throttle = message.throttle;
  control.steer = message.steer;
  control.brake = message.brake;
  control.hand_brake = message.hand_brake;
  control.reverse = message.reverse;
  control.gear = message.gear;
  control.manual_gear_shift = message.manual_gear_shift;
  return control;
}
 
void CarlaEgoVehicleControlSubscriber::ProcessMessages(ActorCallback callback) {
  if (_impl->HasNewMessage()) {
    auto control = this->GetMessage();
    callback(this->GetActor(), control);
  }
}
 
}  // namespace ros2
}  // namespace carla