Quadrotor

Revision dd56aeef

Added ncurses for key input. It can now publish at a rapid rate because
the key input is non-blocking, and after it exits the terminal is not
screwy, but it's not an ideal solution because ROS_INFO no longer works.

Encapsulated the stuff in nav_lib into a class, MikrokopterControl.

#include "ros/ros.h"

#include "mikrokopter/Control.h"

void init_control_msg(mikrokopter::Control& req);

void forward(mikrokopter::Control& req);

void backward(mikrokopter::Control& req);

void left(mikrokopter::Control& req);

void right(mikrokopter::Control& req);

void set_thrust(mikrokopter::Control& req, int thrust);

class MikrokopterControl {

public:

    MikrokopterControl();

    void forward();

    void backward();

    void left();

    void right();

    void set_thrust(int thrust);

    void publish_on(ros::Publisher& pub);

private:

    mikrokopter::Control control;

};

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