navigation_stack_control_converter.h

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#pragma once

#include <ros/ros.h>

#include <drive_msgs/drive_param.h>
#include <geometry_msgs/Twist.h>

constexpr const char* TOPIC_DRIVE_PARAM = "input/drive_param/autonomous";
constexpr const char* TOPIC_CMD_VEL = "cmd_vel";

constexpr double VELOCITY_THRESHOLD = 0.001;
constexpr double ANGULAR_VELOCITY_THRESHOLD = 0.000001;

class NavigationStackControlConverter
{
    public:
    NavigationStackControlConverter();

    private:
    ros::NodeHandle m_node_handle;

    ros::Subscriber m_command_velocity_subscriber;

    ros::Publisher m_drive_param_publisher;

    void convertCallback(const geometry_msgs::Twist::ConstPtr& cmd_vel_message);
};