remote_heartbeat.h

#ifndef REMOTE_HEARTBEAT_H
#define REMOTE_HEARTBEAT_H
 
#include <quad_msgs/LegCommandArray.h>
#include <quad_utils/ros_utils.h>
#include <ros/ros.h>
 
 
class RemoteHeartbeat {
 public:
  RemoteHeartbeat(ros::NodeHandle nh);
 
  void spin();
 
 private:
  void robotHeartbeatCallback(const std_msgs::Header::ConstPtr& msg);
 
  ros::NodeHandle nh_;
 
  ros::Subscriber robot_heartbeat_sub_;
 
  ros::Publisher remote_heartbeat_pub_;
 
  double update_rate_;
 
  double robot_latency_threshold_warn_;
 
  double robot_latency_threshold_error_;
};
 
#endif  // REMOTE_HEARTBEAT_H