/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H

#include <string>
#include <vector>

namespace cartographer_ros {

// Default topic names; expected to be remapped as needed.
constexpr char kLaserScanTopic[] = "scan";
constexpr char kMultiEchoLaserScanTopic[] = "echoes";
constexpr char kPointCloud2Topic[] = "points2";
constexpr char kImuTopic[] = "imu";
constexpr char kOdometryTopic[] = "odom";
constexpr char kNavSatFixTopic[] = "fix";
constexpr char kLandmarkTopic[] = "landmark";
constexpr char kFinishTrajectoryServiceName[] = "finish_trajectory";
constexpr char kOccupancyGridTopic[] = "map";
constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
constexpr char kSubmapListTopic[] = "submap_list";
constexpr char kSubmapQueryServiceName[] = "submap_query";
constexpr char kStartTrajectoryServiceName[] = "start_trajectory";
constexpr char kWriteStateServiceName[] = "write_state";
constexpr char kGetTrajectoryStatesServiceName[] = "get_trajectory_states";
constexpr char kReadMetricsServiceName[] = "read_metrics";
constexpr char kTrajectoryNodeListTopic[] = "trajectory_node_list";
constexpr char kLandmarkPosesListTopic[] = "landmark_poses_list";
constexpr char kConstraintListTopic[] = "constraint_list";
constexpr double kConstraintPublishPeriodSec = 0.5;
constexpr double kTopicMismatchCheckDelaySec = 3.0;

constexpr int kInfiniteSubscriberQueueSize = 0;
constexpr int kLatestOnlyPublisherQueueSize = 1;

// For multiple topics adds numbers to the topic name and returns the list.
std::vector<std::string> ComputeRepeatedTopicNames(const std::string& topic,
                                                   int num_topics);

}  // namespace cartographer_ros

#endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_CONSTANTS_H
