text: // Copyright 2021 RobosoftAI Inc.
  //
  // 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.
  
  /*****************************************************************************************************************
   *
   * 	 Authors: Pablo Inigo Blasco, Brett Aldrich
   *
   ******************************************************************************************************************/
  
  #pragma once
  
  #include <sm_dance_bot_lite/clients/cl_lidar/cl_lidar.hpp>
  #include <smacc2/smacc_orthogonal.hpp>
  
  namespace sm_dance_bot_lite
  {
  class OrObstaclePerception : public smacc2::Orthogonal<OrObstaclePerception>
  {
  public:
    void onInitialize() override
    {
      auto lidarClient = this->createClient<ClLidarSensor>();
  
      lidarClient->topicName = "/scan";
      lidarClient->timeout_ = rclcpp::Duration(std::chrono::seconds(10));
    }
  };
  }  // namespace sm_dance_bot_lite
  