ver2

class_model/include/class_model/requestData.h

@@ -13,17 +13,20 @@ public:
     virtual ~RequestClass();
     global_location get_leader_GPS();
     float get_leader_heading();
+    std::string get_formation_message();
     
 private:
   // ROS NodeHandle
     ros::NodeHandle node_handle_;
 
     void Data_callback(const std_msgs::String::ConstPtr &gps);
+    void Message_callback(const std_msgs::String::ConstPtr &message);
     void jsonToInt(std::string data);
+    void jsonToString(std::string data);
     float heading;
   // SUBSCRIBE
     ros::Subscriber mqtt_data; 
-
+    ros::Subscriber formation_data;
 
 };
 

class_model/include/class_model/select.h

@@ -17,7 +17,7 @@ public:
 
     void init_formation(float x=0,float y=0);
     void line_formation(float x=0,float y=0);
-    void row_formation();
+    void row_formation(float x=0,float y=0);
     void circle_formation();
     void goose_formation(float x=0,float y=0);
     void protect_formation(float x=0,float y=0);