.. _program_listing_file_include_turtlebot3_node_turtlebot3.hpp:

Program Listing for File turtlebot3.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_turtlebot3_node_turtlebot3.hpp>` (``include/turtlebot3_node/turtlebot3.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Author: Darby Lim
   
   #ifndef TURTLEBOT3_NODE__TURTLEBOT3_HPP_
   #define TURTLEBOT3_NODE__TURTLEBOT3_HPP_
   
   #include <tf2_ros/transform_broadcaster.h>
   
   #include <array>
   #include <chrono>
   #include <list>
   #include <map>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <queue>
   
   #include <geometry_msgs/msg/twist.hpp>
   #include <nav_msgs/msg/odometry.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/battery_state.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   #include <sensor_msgs/msg/joint_state.hpp>
   #include <turtlebot3_msgs/msg/sensor_state.hpp>
   
   #include "turtlebot3_node/control_table.hpp"
   #include "turtlebot3_node/devices/devices.hpp"
   #include "turtlebot3_node/devices/motor_power.hpp"
   #include "turtlebot3_node/devices/reset.hpp"
   #include "turtlebot3_node/devices/sound.hpp"
   #include "turtlebot3_node/dynamixel_sdk_wrapper.hpp"
   #include "turtlebot3_node/odometry.hpp"
   #include "turtlebot3_node/sensors/battery_state.hpp"
   #include "turtlebot3_node/sensors/imu.hpp"
   #include "turtlebot3_node/sensors/joint_state.hpp"
   #include "turtlebot3_node/sensors/sensor_state.hpp"
   #include "turtlebot3_node/sensors/sensors.hpp"
   #include "turtlebot3_node/twist_subscriber.hpp"
   
   namespace robotis
   {
   namespace turtlebot3
   {
   extern const ControlTable extern_control_table;
   class TurtleBot3 : public rclcpp::Node
   {
   public:
     typedef struct
     {
       float separation;
       float radius;
     } Wheels;
   
     typedef struct
     {
       float profile_acceleration_constant;
       float profile_acceleration;
     } Motors;
   
     explicit TurtleBot3(const std::string & usb_port);
     virtual ~TurtleBot3() {}
   
     Wheels * get_wheels();
     Motors * get_motors();
   
   private:
     void init_dynamixel_sdk_wrapper(const std::string & usb_port);
     void check_device_status();
   
     void add_sensors();
     void add_devices();
     void add_motors();
     void add_wheels();
   
     void run();
   
     void publish_timer(const std::chrono::milliseconds timeout);
     void heartbeat_timer(const std::chrono::milliseconds timeout);
   
     void cmd_vel_callback();
     void parameter_event_callback();
   
     Wheels wheels_;
     Motors motors_;
   
     std::shared_ptr<DynamixelSDKWrapper> dxl_sdk_wrapper_;
   
     std::list<sensors::Sensors *> sensors_;
     std::map<std::string, devices::Devices *> devices_;
   
     std::unique_ptr<Odometry> odom_;
   
     rclcpp::Node::SharedPtr node_handle_;
   
     rclcpp::TimerBase::SharedPtr publish_timer_;
     rclcpp::TimerBase::SharedPtr heartbeat_timer_;
   
     std::unique_ptr<TwistSubscriber> cmd_vel_sub_;
   
     rclcpp::AsyncParametersClient::SharedPtr priv_parameters_client_;
     rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;
   };
   }  // namespace turtlebot3
   }  // namespace robotis
   #endif  // TURTLEBOT3_NODE__TURTLEBOT3_HPP_