#ifndef _JFX_BOSCH_ROS_INTERFACE_H_ #define _JFX_BOSCH_ROS_INTERFACE_H_ #include <ros/ros.h> #include "InterfaceDefine.hpp" #include "MapInterface.hpp" #include "bs_map_msgs/MapDataMsgs.h" #include "gnss_wheel_msgs/adma_data_msgs.h" namespace jf { class RosInterface { public: RosInterface(const std::string& prj_dir, const std::string& cfg_dir, int tgt_len); ~RosInterface(); public: void ReceiveAdma(const gnss_wheel_msgs::adma_data_msgs::ConstPtr& msg); // 发布地图匹配结果 void PublishMapData(const MapData& data); private: void TestProgram(const bs_map_msgs::MapDataMsgs& msg); private: ros::NodeHandle m_nhdNodeHandle; ros::Subscriber m_subAdama; ros::Publisher m_pubMapData; MapInterface m_miLib; }; } // namespace jf #endif // _JFX_ROS_INTERFACE_H_