15 #ifndef TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MARKER_PUBLISHER_HPP
16 #define TRAFFIC_SIMULATOR__TRAFFIC_LIGHTS__TRAFFIC_LIGHT_MARKER_PUBLISHER_HPP
24 const rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr marker_pub_;
26 const rclcpp::Clock::SharedPtr clock_ptr_;
27 const std::shared_ptr<TrafficLightManager> traffic_light_manager_;
29 auto deleteAllMarkers()
const -> void;
30 auto drawMarkers()
const -> void;
33 template <
typename NodePo
inter>
35 const std::shared_ptr<TrafficLightManager> & traffic_light_manager,
const NodePointer & node,
37 : marker_pub_(rclcpp::create_publisher<visualization_msgs::msg::MarkerArray>(
38 node,
"traffic_light/marker", rclcpp::QoS(1).transient_local())),
39 map_frame_(map_frame),
40 clock_ptr_(node->get_clock()),
41 traffic_light_manager_(traffic_light_manager)
Definition: traffic_light_marker_publisher.hpp:23
auto publish() -> void
Definition: traffic_light_marker_publisher.cpp:45
TrafficLightMarkerPublisher(const std::shared_ptr< TrafficLightManager > &traffic_light_manager, const NodePointer &node, const std::string &map_frame="map")
Definition: traffic_light_marker_publisher.hpp:34
std::string string
Definition: junit5.hpp:26