add 3 bionic drones subscriber

class_model/include/class_model/gps_location.h

@@ -3,6 +3,8 @@
 
 typedef struct global_location{
 	double lat,lon,alt;
+	float heading;
+	int ID;
 }global_location;
 
 #endif // GOBAL_LOCATION_H

class_model/include/class_model/requestData.h

@@ -7,6 +7,7 @@
 #include <string>
 #include <class_model/gps_location.h>
 #include <nlohmann/json.hpp>
+#include <algorithm>
 // #include "rapidjson/document.h"
 
 using json = nlohmann::json;
@@ -17,6 +18,9 @@ public:
     RequestClass();
     virtual ~RequestClass();
     global_location get_leader_GPS();
+    global_location get_self_GPS();
+    global_location get_M1_GPS();
+    global_location get_M2_GPS();
     float get_leader_heading();
     int get_formation_message();
     json get_data();
@@ -26,17 +30,27 @@ private:
     ros::NodeHandle node_handle_;
 
     void Data_callback(const std_msgs::String::ConstPtr &gps);
+    void self_callback(const std_msgs::String::ConstPtr &gps);
+    void M1_callback(const std_msgs::String::ConstPtr &gps);
+    void M2_callback(const std_msgs::String::ConstPtr &gps);
     void Message_callback(const std_msgs::String::ConstPtr &message);
     void jsonToString(std::string data);
     void L_INFO(std::string data);
+    void Bio_INFO(std::string data);
     float heading;
     global_location leader_position;
+    global_location self_position,M1_position,M2_position;
+    std::array <int,3> ID {1,2,3};
     // rapidjson::Document document;
     json j_data;
+    int self_ID,drone_ID;
 
   // SUBSCRIBE
     ros::Subscriber mqtt_data; 
     ros::Subscriber formation_data;
+    ros::Subscriber self_data;
+    ros::Subscriber member1_data;
+    ros::Subscriber member2_data;
 
 };