crash_detector.h

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#pragma once

#include <gazebo/gazebo.hh>
#include <gazebo/gazebo_client.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/transport/transport.hh>
#include <ros/ros.h>
#include <std_msgs/Empty.h>

constexpr const char* TOPIC_CRASH = "/crash";
constexpr const char* TOPIC_GAZEBO_SENSOR_WALLS =
    "/gazebo/racetrack/track/walls-collision-link/walls-contact-sensor/contacts";
constexpr const char* TOPIC_GAZEBO_SENSOR_DECORATION =
    "/gazebo/racetrack/track/decoration-collision-link/decoration-contact-sensor/contacts";

class CrashDetector
{
    public:
    CrashDetector();

    private:
    ros::NodeHandle m_ros_node_handle;
    ros::Publisher m_crash_publisher;

    gazebo::transport::NodePtr m_gazebo_node;
    gazebo::transport::SubscriberPtr m_walls_sensor_subscriber;
    gazebo::transport::SubscriberPtr m_decoration_sensor_subscriber;

    void gazeboTopicCallback(ConstContactsPtr& message);
};