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35 lines
793 B
C++
35 lines
793 B
C++
/*Subscribe Data Which MQTT Pubilsh */
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#ifndef REQUESTDATA_H
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#define REQUESTDATA_H
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#include <ros/ros.h>
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#include <std_msgs/String.h>
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#include <string>
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#include <class_model/gps_location.h>
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class RequestClass {
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public:
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RequestClass();
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virtual ~RequestClass();
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global_location get_leader_GPS();
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float get_leader_heading();
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std::string get_formation_message();
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private:
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// ROS NodeHandle
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ros::NodeHandle node_handle_;
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void Data_callback(const std_msgs::String::ConstPtr &gps);
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void Message_callback(const std_msgs::String::ConstPtr &message);
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void jsonToInt(std::string data);
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void jsonToString(std::string data);
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float heading;
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// SUBSCRIBE
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ros::Subscriber mqtt_data;
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ros::Subscriber formation_data;
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};
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#endif // REQUESTDATA_H
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