int main(int argc, char* argv[]) {
ros::init(argc, argv, "drone_height_controller");
ros::Time::init();
ros::Rate r(Global::rate);
Messenger* messenger = new Messenger();
SimpleController* controller = new SimpleController(messenger);
signal(SIGINT, [](int signum) {
std::cout << "\nHeight controller shutdown" << std::endl;
quit = true;
});
controller->trackHeight(1000.0);
while(!quit) {
ros::spinOnce();
r.sleep();
}
delete messenger;
delete controller;
return 0;
}
virtual void start() override
{
if(ready){
input();
if(!controller->initialize(this) || !controller->start()){
ready = false;
cout << "Intializing the controller failed." << endl;
}
}
}
virtual void control() override
{
if(ready){
controller->control();
}
}
bool control() {
return controller->control();
}
