drive_bot_node.hpp

#pragma once
 
#include <custom_interfaces/srv/drive_to_target.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace robot_control::ball_chaser {

class DriveBot : public rclcpp::Node {
  public:
    DriveBot();
 
  private:
    void handleDriveRequest(
        custom_interfaces::srv::DriveToTarget::Request::SharedPtr req,
        custom_interfaces::srv::DriveToTarget::Response::SharedPtr res
    );
 
    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr m_cmdVelPub;
    rclcpp::Service<custom_interfaces::srv::DriveToTarget>::SharedPtr m_driveService;
};
 
} // namespace robot_control::ball_chaser