#ifndef ENVIRONMENT_H
#define ENVIRONMENT_H

#include <nodelet/nodelet.h>
#include <ros/ros.h>

#include "car/ccDataMsg.h"
#include "car/laneDataMsg.h"
#include "car/rcEnabledMsg.h"

namespace car
{
	class MavLink : public nodelet::Nodelet
	{
		public:
			virtual void onInit();
			MavLink(ros::NodeHandle &nh, std::string &name);
			MavLink();
			~MavLink();
		private:
			ros::NodeHandle nh_;
			std::string name_;
      
			ros::Publisher stmData;
      ros::Subscriber ccData;
      ros::Subscriber laneData;
      ros::Subscriber rcEnabled;

      
      void ccDataCallback(const ccDataMsg::ConstPtr& inMsg);
      void laneDataCallback(const laneDataMsg::ConstPtr& inMsg);
      void rcEnabledCallback(const rcEnabledMsg::ConstPtr& inMsg);
	};
}
#endif