00001 00010 /* 00011 * Copyright 2015 Nuno Marques. 00012 * 00013 * This file is part of the mavros package and subject to the license terms 00014 * in the top-level LICENSE file of the mavros repository. 00015 * https://github.com/mavlink/mavros/tree/master/LICENSE.md 00016 */ 00017 00018 #pragma once 00019 00020 #include <test_mavros/utils/pid_controller.h> 00021 00022 namespace testsetup { 00023 class TestSetup { 00024 public: 00025 TestSetup() : 00026 nh("~") 00027 { }; 00028 ~TestSetup() {}; 00029 00030 ros::NodeHandle nh; 00031 00032 bool use_pid; 00033 double rate; 00034 int num_of_tests; 00035 00036 void setup(const ros::NodeHandle &nh){ 00037 nh.param("use_pid", use_pid, true); 00038 nh.param("rate", rate, 10.0); 00039 nh.param("num_of_tests", num_of_tests, 10); 00040 } 00041 }; 00042 }; // namespace testsetup