testbb.h

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#ifndef TESTBB_H_
#define TESTBB_H_

#include "std_msgs/String.h"
#include "std_msgs/Int32.h"
#include "nav_msgs/Odometry.h"
#include "geometry_msgs/Twist.h"

#include "micros_swarm/micros_swarm.h"

namespace testbb{
    
    class TestBb : public micros_swarm::Application
    {
        public:
            ros::Timer timer;
            ros::Publisher pub;
            ros::Subscriber sub;

            micros_swarm::BlackBoard<std_msgs::Int32> bb;

            void baseCallback(const nav_msgs::Odometry& lmsg);
            void loop_put(const ros::TimerEvent&);
            void loop_get(const ros::TimerEvent&);
            
            TestBb();
            ~TestBb();
            virtual void init();
            virtual void start();
            virtual void stop();
    };
};

#endif