app3.h

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#ifndef APP3_H_
#define APP3_H_

#include <string>
#include <list>
#include <vector>
#include <iostream>
#include <utility>
#include <cmath>
#include <ctime>

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

#include "micros_swarm/micros_swarm.h"

namespace app3{
    
    class App3 : public micros_swarm::Application
    {
        public:
            ros::Timer timer;
            ros::Publisher pub;
            ros::Subscriber sub;
            
            int hz;
            double interval;
            
            App3();
            ~App3();

            virtual void init();
            virtual void start();
            virtual void stop();
            
            //app functions
            void publish_cmd(const ros::TimerEvent&);
            void baseCallback(const nav_msgs::Odometry& lmsg);  
    };
};

#endif