Created new ros2 msg for targetlist

Provide the targetlist values as topic for all interfaces and sensor types.
smartmicro · Nov 8, 2023 · a7c1c76 · a7c1c76
1 parent 192b17b
commit a7c1c76
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Showing 4 changed files with 259 additions and 48 deletions.
diff --git a/umrr_ros2_driver/include/umrr_ros2_driver/smartmicro_radar_node.hpp b/umrr_ros2_driver/include/umrr_ros2_driver/smartmicro_radar_node.hpp
@@ -43,6 +43,7 @@
 #include "umrr_ros2_msgs/srv/set_ip.hpp"
 #include "umrr_ros2_msgs/srv/set_mode.hpp"
 #include "umrr_ros2_msgs/srv/firmware_download.hpp"
+#include "umrr_ros2_msgs/msg/target_list.hpp"
 
 namespace smartmicro {
 namespace drivers {
@@ -402,6 +403,9 @@ class UMRR_ROS2_DRIVER_PUBLIC SmartmicroRadarNode : public ::rclcpp::Node {
   std::array<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr,
              detail::kMaxSensorCount>
       m_publishers{};
+  std::array<rclcpp::Publisher<umrr_ros2_msgs::msg::TargetList>::SharedPtr,
+             detail::kMaxSensorCount>
+      m_targetlist_publishers{};
   std::size_t m_number_of_sensors{};
   std::size_t m_number_of_adapters{};
   rclcpp::TimerBase::SharedPtr timer;