Simulation environment state monitor node added for detect models placement without sensors

robossembler_scene_monitor/printer/include/printer_base.hpp

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <string>
+#include <rclcpp/rclcpp.hpp>
+// #include <geometry_msgs/msg/pose.hpp>
+
+namespace printer
+{
+
+template <class Derived>
+class PrinterBase: public rclcpp::Node
+{
+
+    inline const Derived& derived() const& noexcept
+    {
+        return *static_cast<const Derived*>(this);
+    }
+
+public:
+    explicit PrinterBase(const rclcpp::NodeOptions& options);
+    virtual ~PrinterBase() = default;
+    // virtual void print(const std::string& frame_name, 
+    //                    const geometry_msgs::msg::Pose& placement_pose, 
+    //                    const std::string& package_name);
+    // virtual ~Printer();
+
+protected:
+    std::string _printer_name;
+    // geometry_msgs::msg::Pose _printer_pose;
+
+};
+
+} // namespace printer