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