#ifndef LANEKEEPING_H
#define LANEKEEPING_H

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

#include "car/laneDataMsg.h"
#include "car/camDataMsg.h"

namespace car
{
class Lanekeeping : public nodelet::Nodelet
{
public:
    virtual void onInit();

    Lanekeeping(ros::NodeHandle & nh, std::string & name);

    Lanekeeping();

    ~Lanekeeping();

private:
    ros::NodeHandle nh_;
    std::string name_;

    ros::Publisher laneData;
    ros::Subscriber camData;

    void camDataCallback(const camDataMsg::ConstPtr & inMsg);
};
}
#endif