Quadrotor

#include "ros/ros.h"

#include "mikrokopter/Control.h"

#include <cstdlib>

int main(int argc, char **argv)

{

    ros::init(argc, argv, "mikrokopter_externctrl_client");

    ros::NodeHandle n;

    ros::Publisher pub = n.advertise<mikrokopter::Control>("/mikrokopter/req_set_control", 100);

    mikrokopter::Control req;

    req.digital[0] = 0;

    req.digital[1] = 0;

    req.remoteKey = 0;

    req.pitch = 0;

    req.roll = 0;

    req.yaw = 0;

    req.thrust = 40;

    req.height = 0;

    req.free = 0;

    req.frame = 7;

    req.config = 1;

    ros::Rate loop_rate(25);

    printf("moving\n");

    req.roll = -15;

    req.pitch = -15; /* nick is pitch */

    pub.publish(req);

    ros::spinOnce();

    sleep(5);

    printf("evening out\n");

    req.roll = 0;

    req.pitch = 0;

    pub.publish(req);

    ros::spinOnce();

}

void forward()

{

}