Feature/state machine

CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(DIRECTORY msg
    FILES
    cone_msg.msg
+   mur_drive_cmd.msg
  )
 
 generate_messages(

msg/mur_drive_cmd.msg

@@ -0,0 +1,5 @@
+Header header
+# Straightline velocity 
+float32 vel
+# angular velocity 
+float32 omega

src/state_machine.cpp

@@ -0,0 +1,8 @@
+#include "state_machine.h"
+
+
+void main()
+{
+
+} 
+}

src/state_machine.h

@@ -0,0 +1,31 @@
+#ifndef STATE_MACHINE_H
+#define STATE_MACHINE_H
+#include "ros.h"
+
+
+class mur_state
+{
+private:
+    // States that this node will track
+    bool perceptionReady; 
+    bool slamReady;
+    bool localReady;
+    bool lidarReady;
+    bool camReady;
+
+
+
+public:
+    mur_state(/* args */);
+    ~mur_state();
+};
+
+mur_state::mur_state(/* args */)
+{
+}
+
+mur_state::~mur_state()
+{
+}
+
+#endif