navigation_interface_base.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_ros2/common/context.hpp>
#include <px4_ros2/common/exception.hpp>
 
namespace px4_ros2 {
 
class NavigationInterfaceInvalidArgument : public Exception {
 public:
  explicit NavigationInterfaceInvalidArgument(const std::string& message)
      : Exception("PX4 ROS2 navigation interface: invalid argument: " + message)
  {
  }
};
 
class PositionMeasurementInterfaceBase : public Context {
 public:
  explicit PositionMeasurementInterfaceBase(rclcpp::Node& node,
                                            std::string topic_namespace_prefix = "")
      : Context(node, std::move(topic_namespace_prefix)), _node(node)
  {
  }
  virtual ~PositionMeasurementInterfaceBase() = default;
 
  bool doRegister() { return true; }
 
 protected:
  rclcpp::Node& _node;
};
 
}  // namespace px4_ros2