GitHub Viewer
/*
* OpenVMP, 2023
*
* Author: Roman Kuzmenko
* Created: 2023-03-26
*
* Licensed under Apache License, Version 2.0.
*/
#include "remote_microcontroller/interface.hpp"
#include "remote_actuator/factory.hpp"
#include "remote_serial/factory.hpp"
namespace remote_microcontroller {
Interface::Interface(rclcpp::Node *node) : node_{node} {
callback_group_ =
node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
node->declare_parameter("microcontroller_prefix",
"/microcontroller/" + std::string(node_->get_name()));
node->get_parameter("microcontroller_prefix", interface_prefix_);
auto prefix = get_prefix_();
}
std::string Interface::get_prefix_() {
std::string prefix = std::string(node_->get_namespace());
if (prefix.length() > 0 && prefix[prefix.length() - 1] == '/') {
prefix = prefix.substr(0, prefix.length() - 1);
}
prefix += interface_prefix_.as_string();
return prefix;
}
} // namespace remote_microcontroller