#include "class_model/PubInfo.h"

PubInfoClass::PubInfoClass():node_handle_("~"){

    std::string ros_namespace;
    if (!node_handle_.hasParam("namespace"))
	{
	}else{
		node_handle_.getParam("namespace", ros_namespace);
	}
    PubInfo = node_handle_.advertise<diagnostic_msgs::KeyValue>(ros_namespace+"/Flight_Information_reciver",100);

}

PubInfoClass::~PubInfoClass() { ros::shutdown(); }

void PubInfoClass::pub_info(INFO msg){
    info.key = msg.type;           //key == drone's formation
    info.value = msg.mission;      //value == drone's mission
    PubInfo.publish(info);
}