# DatabaseHandlerNode (`assignments::three::g2_2025_database_node`)

The `DatabaseHandlerNode` subscribes to position and velocity topics and stores the data in a
PostgreSQL database via the `DatabaseManager`.

## Implementation Details

**Parameters**

| Parameter | Type | Default | Description |
|-----------|------|---------|-------------|
| `save_position_data` | bool | true | Enable storage of position |
| `save_velocity_data` | bool | true | Enable storage of velocity |

**Constructor**
```cpp
DatabaseHandlerNode()
```
- Initializes ROS2 node with name `database_handler_node`
- Creates subscriptions to `estimated_position` and/or `estimated_velocity` based on parameter configuration

## Functions

**`void position_callback(const geometry_msgs::msg::Pose2D::SharedPtr msg)`**
- Primary callback invoked whenever a position message is received
- Forwards: x, y, and theta to `DatabaseManager::store_position_data`
- Throttled warning (5 second interval) on storage failures

**`void velocity_callback(const geometry_msgs::msg::Twist::SharedPtr msg)`**
- Primary callback invoked whenever a velocity message is received
- Forwards: linear velocity (x, y, z) and angular velocity (z) to `DatabaseManager::store_velocity_data`
- Throttled warning (5 second interval) on storage failures

## ROS2 Interface

**Subscriptions**
- `estimated_position` (geometry_msgs/msg/Pose2D)
  - Receives calculated position estimates (only subscribed if `save_position_data=true`)

- `estimated_velocity` (geometry_msgs/msg/Twist)
  - Receives calculated velocity estimates (only subscribed if `save_velocity_data=true`)