Environment manager base architecture implemented

env_manager/include/component_manager/subscriber_component.hpp

@@ -0,0 +1,44 @@
+#ifndef ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_
+#define ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_
+
+#include <iostream>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+
+namespace env_manager
+{
+namespace component_manager
+{
+
+const std::string DEFAULT_SUB_NODE_NAME = "env_manager_sub_node";
+const std::string DEFAULT_SUB_TOPIC_NAME = "sub_topic";
+
+template <typename MessageT>
+class SubscriberComponent : public rclcpp::Node
+{
+public:
+    explicit SubscriberComponent(const rclcpp::NodeOptions& options)
+        : Node(DEFAULT_SUB_NODE_NAME, options)
+    {
+        _sub = create_subscription<MessageT>(
+                    DEFAULT_SUB_TOPIC_NAME, 10, this->callback);
+        auto ret = rcutils_logging_set_logger_level(
+            get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL);
+        if (ret != RCUTILS_RET_OK) 
+        {
+            RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
+            rcutils_reset_error();
+        }
+    }
+
+    virtual void callback(const MessageT& msg) = 0;
+
+private:
+    typename rclcpp::Subscription<MessageT>::SharedPtr _sub;
+};
+
+} // namespace component_manager
+} // namespace env_manager
+
+#endif // ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_