Suggestions5

include/scan_preprocessor.hpp

@@ -62,11 +62,12 @@
 #include <std_msgs/msg/header.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
+#include "tsq.hpp"
+#include "util.hpp"
 #include "geometry.hpp"
 #include "cloud_ops.hpp"
 #include "point_def.hpp"
 #include "imu_integrator.hpp"
-#include "tsq.hpp"
 
 #define DESKEW_ROT_THRESH_RAD 1e-3
 
@@ -175,29 +176,12 @@ class ScanPreprocessor
     }
 
 protected:
-    struct TransparentStringHash
-    {
-        using is_transparent = void;
-        size_t operator()(std::string_view s) const noexcept
-        {
-            return std::hash<std::string_view>{}(s);
-        }
-    };
-    struct TransparentStringEq
-    {
-        using is_transparent = void;
-        bool operator()(std::string_view a, std::string_view b) const noexcept
-        {
-            return a == b;
-        }
-    };
-
     template<typename T>
     using UoStrMultiMap = std::unordered_multimap<
         std::string,
         T,
-        TransparentStringHash,
-        TransparentStringEq>;
+        util::TransparentStringHash,
+        util::TransparentStringEq>;
 
     using TfZoneList = std::pair<Iso3f, std::vector<Box3f>>;
 

include/util.hpp

@@ -42,6 +42,7 @@
 #include <string>
 #include <chrono>
 #include <memory>
+#include <string_view>
 #include <type_traits>
 
 #include <rclcpp/rclcpp.hpp>
@@ -138,6 +139,15 @@ inline builtin_interfaces::msg::Time toTimeStamp(double t_secs)
 }
 
 
+template<typename ros_T, typename primitive_T>
+inline ros_T to_ros_val(primitive_T v)
+{
+    static_assert(std::is_same<typename ros_T::_data_type, primitive_T>::value);
+
+    return ros_T{}.set__data(v);
+}
+
+
 /* Create a shared pointer from a stack-allocated variable pointer. Make sure
 * the object will outlast the shared pointer scope! */
 template<typename T>
@@ -153,6 +163,23 @@ inline std::shared_ptr<T> wrap_unmanaged(T& x)
     return std::shared_ptr<T>(&x, [](T*) {});
 }
 
+struct TransparentStringHash
+{
+    using is_transparent = void;
+    size_t operator()(std::string_view s) const noexcept
+    {
+        return std::hash<std::string_view>{}(s);
+    }
+};
+struct TransparentStringEq
+{
+    using is_transparent = void;
+    bool operator()(std::string_view a, std::string_view b) const noexcept
+    {
+        return a == b;
+    }
+};
+
 };  // namespace util
 
 #define DECLARE_IMMOVABLE(Typename)                \

src/core/perception.hpp

@@ -74,6 +74,8 @@ namespace csm
 namespace perception
 {
 
+struct PerceptionConfig;
+
 class PerceptionNode : public rclcpp::Node
 {
 protected:
@@ -95,9 +97,9 @@ class PerceptionNode : public rclcpp::Node
     void shutdown();
 
 protected:
-    void getParams(void* = nullptr);
-    void initPubSubs(void* = nullptr);
-    void printStartup(void* = nullptr);
+    void getParams(PerceptionConfig& cfg);
+    void initPubSubs(PerceptionConfig& cfg);
+    void printStartup(PerceptionConfig& cfg);
 
 private:
     // --- TRANSFORM UTILITEIS -------------------------------------------------