tested class PubInfo complete.

class_model/src/main.cpp

@@ -1,6 +1,6 @@
 #include "class_model/mission.h"
 #include "class_model/choose_leader.h"
-#include "class_model/PubData.h"
+#include "class_model/PubInfo.h"
 
 int main(int argc, char **argv) {
 
@@ -17,7 +17,7 @@ int main(int argc, char **argv) {
     MissionClass mission_object;
     CommandClass command_object;
     SelectClass select_formation;
-    PubDataClass PubData_object;
+    PubInfoClass PubInfo_object;
     
     // SelectionClass selection_object;
     
@@ -30,11 +30,16 @@ int main(int argc, char **argv) {
     // selection_object.choose_leader();
     // mission_object.start();   //default hover in goose formation
 
+    INFO msg;
+    msg.type = "V_formation";
+    msg.mission = "fly2target";
+
     while(ros::ok()){
 
 
     //json_object.get_command();       //for follower
-    select_formation.goose_formation();
+    //select_formation.goose_formation();
+    PubInfo_object.pub_info(msg);
     }
 
     ros::waitForShutdown();

class_model/src/test_pub.py

@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
 #coding:utf-8
 import rospy
-from mavros_msgs.msg import Waypoint
+# from mavros_msgs.msg import Waypoint
+from diagnostic_msgs.msg import KeyValue
  
 def callBack(data):
-    print (data.param1)
+    print (data)
+
  
 if __name__ == '__main__':
     nodeName = 'subscriber_py'
     rospy.init_node(nodeName)
-    topicName = '/DroneStatus'
-    subscriber = rospy.Subscriber(topicName,Waypoint,callBack)  #從topic獲取string再呼叫callback
+    topicName = '/Flight_Information_reciver'
+    subscriber = rospy.Subscriber(topicName,KeyValue,callBack)  #從topic獲取string再呼叫callback
     rospy.spin()