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/*
 * File: node_manager.h
 * Author: Zhang Yu <zhangyu@hesaitech.com>
 * Description: ROS Node Manager
 * Created on June 12, 2023, 10:46 AM
 */

#pragma once

#include "utility/yaml_reader.hpp"
#ifdef ROS_FOUND
#include "source_driver_ros1.hpp"
#elif ROS2_FOUND
#include "source_driver_ros2.hpp"
#endif

class NodeManager
{
public:

  // Initialize ROS nodes based on configuration files
  void Init(const YAML::Node& config);
  // Start working
  void Start();
  // Stop working
  void Stop();

  ~NodeManager();
  NodeManager() = default;

// private:

  std::vector<SourceDriver::Ptr> sources_driver_;
};


