Added header files to things

pps_ws/src/d_fall_pps/include/CentralManagerService.h

@@ -30,6 +30,41 @@
 //    ----------------------------------------------------------------------------------
 
 
+
+
+
+//    ----------------------------------------------------------------------------------
+//    III  N   N   CCCC  L      U   U  DDDD   EEEEE   SSSS
+//     I   NN  N  C      L      U   U  D   D  E      S
+//     I   N N N  C      L      U   U  D   D  EEE     SSS
+//     I   N  NN  C      L      U   U  D   D  E          S
+//    III  N   N   CCCC  LLLLL   UUU   DDDD   EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+#include <stdlib.h>
+#include <ros/ros.h>
+#include "d_fall_pps/CrazyflieContext.h"
+#include "d_fall_pps/CrazyflieDB.h"
+
+#include "d_fall_pps/CMRead.h"
+#include "d_fall_pps/CMQuery.h"
+#include "d_fall_pps/CMUpdate.h"
+#include "d_fall_pps/CMCommand.h"
+
+#include "CrazyflieIO.h"
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    DDDD   EEEEE  FFFFF  III  N   N  EEEEE   SSSS
+//    D   D  E      F       I   NN  N  E      S
+//    D   D  EEE    FFF     I   N N N  EEE     SSS
+//    D   D  E      F       I   N  NN  E          S
+//    DDDD   EEEEE  F      III  N   N  EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
 //for field command in CMCommand
 #define CMD_SAVE    1
 #define CMD_RELOAD  2
@@ -38,3 +73,58 @@
 #define ENTRY_INSERT_OR_UPDATE  1
 #define ENTRY_REMOVE            2
 
+// For which controller parameters to load
+#define LOAD_YAML_SAFE_CONTROLLER_AGENT          1
+#define LOAD_YAML_DEMO_CONTROLLER_AGENT        2
+#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR    3
+#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR  4
+
+// For which controller parameters and from where to fetch
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT        1
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT      2
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR      3
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR    4
+
+
+using namespace d_fall_pps;
+using namespace std;
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    V   V    A    RRRR   III    A    BBBB   L      EEEEE   SSSS
+//    V   V   A A   R   R   I    A A   B   B  L      E      S
+//    V   V  A   A  RRRR    I   A   A  BBBB   L      EEE     SSS
+//     V V   AAAAA  R  R    I   AAAAA  B   B  L      E          S
+//      V    A   A  R   R  III  A   A  BBBB   LLLLL  EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+CrazyflieDB crazyflieDB;
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    FFFFF  U   U  N   N   CCCC  TTTTT  III   OOO   N   N
+//    F      U   U  NN  N  C        T     I   O   O  NN  N
+//    FFF    U   U  N N N  C        T     I   O   O  N N N
+//    F      U   U  N  NN  C        T     I   O   O  N  NN
+//    F       UUU   N   N   CCCC    T    III   OOO   N   N
+//
+//    PPPP   RRRR    OOO   TTTTT   OOO   TTTTT  Y   Y  PPPP   EEEEE   SSSS
+//    P   P  R   R  O   O    T    O   O    T     Y Y   P   P  E      S
+//    PPPP   RRRR   O   O    T    O   O    T      Y    PPPP   EEE     SSS
+//    P      R  R   O   O    T    O   O    T      Y    P      E          S
+//    P      R   R   OOO     T     OOO     T      Y    P      EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+bool cmRead(CMRead::Request &request, CMRead::Response &response);
+int findEntryByStudID(unsigned int studID);
+bool cmQuery(CMQuery::Request &request, CMQuery::Response &response);
+int findEntryByCF(string name);
+bool cmUpdate(CMUpdate::Request &request, CMUpdate::Response &response);
+bool cmCommand(CMCommand::Request &request, CMCommand::Response &response);
+

pps_ws/src/d_fall_pps/include/DemoControllerService.h

+//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+//    This file is part of D-FaLL-System.
+//    
+//    D-FaLL-System is free software: you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation, either version 3 of the License, or
+//    (at your option) any later version.
+//    
+//    D-FaLL-System is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//    
+//    You should have received a copy of the GNU General Public License
+//    along with D-FaLL-System.  If not, see <http://www.gnu.org/licenses/>.
+//    
+//
+//    ----------------------------------------------------------------------------------
+//    DDDD        FFFFF        L     L           SSSS  Y   Y   SSSS  TTTTT  EEEEE  M   M
+//    D   D       F      aaa   L     L          S       Y Y   S        T    E      MM MM
+//    D   D  ---  FFFF  a   a  L     L     ---   SSS     Y     SSS     T    EEE    M M M
+//    D   D       F     a  aa  L     L              S    Y        S    T    E      M   M
+//    DDDD        F      aa a  LLLL  LLLL       SSSS     Y    SSSS     T    EEEEE  M   M
+//
+//
+//    DESCRIPTION:
+//    Place for students to implement their controller
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    III  N   N   CCCC  L      U   U  DDDD   EEEEE   SSSS
+//     I   NN  N  C      L      U   U  D   D  E      S
+//     I   N N N  C      L      U   U  D   D  EEE     SSS
+//     I   N  NN  C      L      U   U  D   D  E          S
+//    III  N   N   CCCC  LLLLL   UUU   DDDD   EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+// These various headers need to be included so that this controller service can be
+// connected with the D-FaLL system.
+
+//some useful libraries
+#include <math.h>
+#include <stdlib.h>
+#include "ros/ros.h"
+#include <ros/package.h>
+
+//the generated structs from the msg-files have to be included
+#include "d_fall_pps/ViconData.h"
+#include "d_fall_pps/Setpoint.h"
+#include "d_fall_pps/ControlCommand.h"
+#include "d_fall_pps/Controller.h"
+#include "d_fall_pps/DebugMsg.h"
+//#include "d_fall_pps/DemoControllerYAML.h"
+
+#include <std_msgs/Int32.h>
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    DDDD   EEEEE  FFFFF  III  N   N  EEEEE   SSSS
+//    D   D  E      F       I   NN  N  E      S
+//    D   D  EEE    FFF     I   N N N  EEE     SSS
+//    D   D  E      F       I   N  NN  E          S
+//    DDDD   EEEEE  F      III  N   N  EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+// These constants are defined to make the code more readable and adaptable.
+
+// Universal constants
+#define PI 3.1415926535
+
+// These constants define the modes that can be used for controller the Crazyflie 2.0,
+// the constants defined here need to be in agreement with those defined in the
+// firmware running on the Crazyflie 2.0.
+// The following is a short description about each mode:
+// MOTOR_MODE    In this mode the Crazyflie will apply the requested 16-bit per motor
+//               command directly to each of the motors
+// RATE_MODE     In this mode the Crazyflie will apply the requested 16-bit per motor
+//               command directly to each of the motors, and additionally request the
+//               body frame roll, pitch, and yaw angular rates from the PID rate
+//               controllers implemented in the Crazyflie 2.0 firmware.
+// ANGE_MODE     In this mode the Crazyflie will apply the requested 16-bit per motor
+//               command directly to each of the motors, and additionally request the
+//               body frame roll, pitch, and yaw angles from the PID attitude
+//               controllers implemented in the Crazyflie 2.0 firmware.
+#define MOTOR_MODE 6
+#define RATE_MODE  7
+#define ANGLE_MODE 8
+
+// These constants define the controller used for computing the response in the
+// "calculateControlOutput" function
+// The following is a short description about each mode:
+// LQR_RATE_MODE      LQR controller based on the state vector:
+//                    [position,velocity,angles]
+//
+// LQR_ANGLE_MODE     LQR controller based on the state vector:
+//                    [position,velocity]
+//
+#define LQR_RATE_MODE   1   // (DEFAULT)
+#define LQR_ANGLE_MODE  2
+
+// Constants for feching the yaml paramters
+#define FETCH_YAML_SAFE_CONTROLLER_AGENT          1
+#define FETCH_YAML_DEMO_CONTROLLER_AGENT        2
+#define FETCH_YAML_SAFE_CONTROLLER_COORDINATOR    3
+#define FETCH_YAML_DEMO_CONTROLLER_COORDINATOR  4
+
+// Namespacing the package
+using namespace d_fall_pps;
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    V   V    A    RRRR   III    A    BBBB   L      EEEEE   SSSS
+//    V   V   A A   R   R   I    A A   B   B  L      E      S
+//    V   V  A   A  RRRR    I   A   A  BBBB   L      EEE     SSS
+//     V V   AAAAA  R  R    I   AAAAA  B   B  L      E          S
+//      V    A   A  R   R  III  A   A  BBBB   LLLLL  EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+// Variables for controller
+float cf_mass;                       // Crazyflie mass in grams
+std::vector<float> motorPoly(3);     // Coefficients of the 16-bit command to thrust conversion
+float control_frequency;             // Frequency at which the controller is running
+float gravity_force;                 // The weight of the Crazyflie in Newtons, i.e., mg
+
+float previous_stateErrorInertial[9];     // The location error of the Crazyflie at the "previous" time step
+
+std::vector<float>  setpoint{0.0,0.0,0.4,0.0};     // The setpoints for (x,y,z) position and yaw angle, in that order
+
+
+// The controller type to run in the "calculateControlOutput" function
+int controller_type = LQR_RATE_MODE;
+
+// The LQR Controller parameters for "LQR_RATE_MODE"
+std::vector<float> gainMatrixRollRate                =  { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
+std::vector<float> gainMatrixPitchRate               =  { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
+std::vector<float> gainMatrixYawRate                 =  { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
+std::vector<float> gainMatrixThrust_NineStateVector  =  { 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00};
+
+
+// The LQR Controller parameters for "LQR_ANGLE_MODE"
+std::vector<float> gainMatrixRollAngle               =  { 0.00,-0.20, 0.00, 0.00,-0.20, 0.00};
+std::vector<float> gainMatrixPitchAngle              =  { 0.20, 0.00, 0.00, 0.20, 0.00, 0.00};
+std::vector<float> gainMatrixThrust_SixStateVector   =  { 0.00, 0.00, 0.31, 0.00, 0.00, 0.14};
+
+// ROS Publisher for debugging variables
+ros::Publisher debugPublisher;
+
+
+// Variable for the namespaces for the paramter services
+// > For the paramter service of this agent
+std::string namespace_to_own_agent_parameter_service;
+// > For the parameter service of the coordinator
+std::string namespace_to_coordinator_parameter_service;
+
+
+
+// VARIABLES RELATING TO PERFORMING THE CONVERSION INTO BODY FRAME
+
+// Boolean whether to execute the convert into body frame function
+bool shouldPerformConvertIntoBodyFrame = false;
+
+
+// VARIABLES RELATING TO THE PUBLISHING OF A DEBUG MESSAGE
+
+// Boolean indiciating whether the "Debug Message" of this agent should be published or not
+bool shouldPublishDebugMessage = false;
+
+// Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
+bool shouldDisplayDebugInfo = false;
+
+
+// VARIABLES RELATING TO PUBLISHING CURRENT POSITION AND FOLLOWING ANOTHER AGENT'S
+// POSITION
+
+// The ID of this agent, i.e., the ID of this compute
+int my_agentID = 0;
+
+// Boolean indicating whether the (x,y,z,yaw) of this agent should be published or not
+// > The default behaviour is: do not publish,
+// > This varaible is changed based on parameters loaded from the YAML file
+bool shouldPublishCurrent_xyz_yaw = false;
+
+// Boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
+// an attempt to follow the "my_current_xyz_yaw_topic" from another agent
+// > The default behaviour is: do not follow,
+// > This varaible is changed based on parameters loaded from the YAML file
+bool shouldFollowAnotherAgent = false;
+
+// The order in which agents should follow eachother
+// > This parameter is a vector of integers that specifies  agent ID's
+// > The order of the agent ID's is the ordering of the line formation
+// > i.e., the first ID is the leader, the second ID should follow the first ID, and so on
+std::vector<int> follow_in_a_line_agentIDs(100);
+
+// Integer specifying the ID of the agent that will be followed by this agent
+// > The default behaviour not to follow any agent, indicated by ID zero
+// > This varaible is changed based on parameters loaded from the YAML file
+int agentID_to_follow = 0;
+
+// ROS Publisher for my current (x,y,z,yaw) position
+ros::Publisher my_current_xyz_yaw_publisher;
+
+// ROS Subscriber for my position
+ros::Subscriber xyz_yaw_to_follow_subscriber;
+
+
+// RELEVANT NOTES ABOUT THE VARIABLES DECLARE HERE:
+// The "CrazyflieData" type used for the "request" variable is a
+// structure as defined in the file "CrazyflieData.msg" which has the following
+// properties:
+//     string crazyflieName              The name given to the Crazyflie in the Vicon software
+//     float64 x                         The x position of the Crazyflie [metres]
+//     float64 y                         The y position of the Crazyflie [metres]
+//     float64 z                         The z position of the Crazyflie [metres]
+//     float64 roll                      The roll component of the intrinsic Euler angles [radians]
+//     float64 pitch                     The pitch component of the intrinsic Euler angles [radians]
+//     float64 yaw                       The yaw component of the intrinsic Euler angles [radians]
+//     float64 acquiringTime #delta t    The time elapsed since the previous "CrazyflieData" was received [seconds]
+//     bool occluded                     A boolean indicted whether the Crazyflie for visible at the time of this measurement
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    FFFFF  U   U  N   N   CCCC  TTTTT  III   OOO   N   N
+//    F      U   U  NN  N  C        T     I   O   O  NN  N
+//    FFF    U   U  N N N  C        T     I   O   O  N N N
+//    F      U   U  N  NN  C        T     I   O   O  N  NN
+//    F       UUU   N   N   CCCC    T    III   OOO   N   N
+//
+//    PPPP   RRRR    OOO   TTTTT   OOO   TTTTT  Y   Y  PPPP   EEEEE   SSSS
+//    P   P  R   R  O   O    T    O   O    T     Y Y   P   P  E      S
+//    PPPP   RRRR   O   O    T    O   O    T      Y    PPPP   EEE     SSS
+//    P      R  R   O   O    T    O   O    T      Y    P      E          S
+//    P      R   R   OOO     T     OOO     T      Y    P      EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+// These function prototypes are not strictly required for this code to complile, but
+// adding the function prototypes here means the the functions can be written below in
+// any order. If the function prototypes are not included then the function need to
+// written below in an order that ensure each function is implemented before it is
+// called from another function, hence why the "main" function is at the bottom.
+
+// CONTROLLER COMPUTATIONS
+bool calculateControlOutput(Controller::Request &request, Controller::Response &response);
+void calculateControlOutput_viaLQRforRates(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
+void calculateControlOutput_viaLQRforAngles(float stateErrorBody[9], Controller::Request &request, Controller::Response &response);
+
+// TRANSFORMATION OF THE (x,y) INERTIAL FRAME ERROR INTO AN (x,y) BODY FRAME ERROR
+void convertIntoBodyFrame(float stateInertial[9], float (&stateBody)[9], float yaw_measured);
+
+// CONVERSION FROM THRUST IN NEWTONS TO 16-BIT COMMAND
+float computeMotorPolyBackward(float thrust);
+
+// SETPOINT CHANGE CALLBACK
+void setpointCallback(const Setpoint& newSetpoint);
+void xyz_yaw_to_follow_callback(const Setpoint& newSetpoint);
+
+// LOAD PARAMETERS
+float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
+void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
+int getParameterInt(ros::NodeHandle& nodeHandle, std::string name);
+void getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length);
+int getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val);
+bool getParameterBool(ros::NodeHandle& nodeHandle, std::string name);
+
+void yamlReadyForFetchCallback(const std_msgs::Int32& msg);
+void fetchYamlParameters(ros::NodeHandle& nodeHandle);
+void processFetchedParameters();
+

pps_ws/src/d_fall_pps/include/PPSClient.h

+//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat, Angel Romero, Cyrill Burgener, Marco Mueller, Philipp Friedli
+//
+//    This file is part of D-FaLL-System.
+//    
+//    D-FaLL-System is free software: you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation, either version 3 of the License, or
+//    (at your option) any later version.
+//    
+//    D-FaLL-System is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//    
+//    You should have received a copy of the GNU General Public License
+//    along with D-FaLL-System.  If not, see <http://www.gnu.org/licenses/>.
+//    
+//
+//    ----------------------------------------------------------------------------------
+//    DDDD        FFFFF        L     L           SSSS  Y   Y   SSSS  TTTTT  EEEEE  M   M
+//    D   D       F      aaa   L     L          S       Y Y   S        T    E      MM MM
+//    D   D  ---  FFFF  a   a  L     L     ---   SSS     Y     SSS     T    EEE    M M M
+//    D   D       F     a  aa  L     L              S    Y        S    T    E      M   M
+//    DDDD        F      aa a  LLLL  LLLL       SSSS     Y    SSSS     T    EEEEE  M   M
+//
+//
+//    DESCRIPTION:
+//    ROS node that manages the student's setup.
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    III  N   N   CCCC  L      U   U  DDDD   EEEEE   SSSS
+//     I   NN  N  C      L      U   U  D   D  E      S
+//     I   N N N  C      L      U   U  D   D  EEE     SSS
+//     I   N  NN  C      L      U   U  D   D  E          S
+//    III  N   N   CCCC  LLLLL   UUU   DDDD   EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+#include "ros/ros.h"
+#include <stdlib.h>
+#include <std_msgs/String.h>
+#include <ros/package.h>
+
+#include "d_fall_pps/Controller.h"
+#include "d_fall_pps/CMQuery.h"
+
+#include "d_fall_pps/ViconData.h"
+#include "d_fall_pps/CrazyflieData.h"
+#include "d_fall_pps/ControlCommand.h"
+#include "d_fall_pps/CrazyflieContext.h"
+#include "d_fall_pps/Setpoint.h"
+#include "std_msgs/Int32.h"
+#include "std_msgs/Float32.h"
+
+// Need for having a ROS "bag" to store data for post-analysis
+//#include <rosbag/bag.h>
+
+#include "d_fall_pps/ControlCommand.h"
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    DDDD   EEEEE  FFFFF  III  N   N  EEEEE   SSSS
+//    D   D  E      F       I   NN  N  E      S
+//    D   D  EEE    FFF     I   N N N  EEE     SSS
+//    D   D  E      F       I   N  NN  E          S
+//    DDDD   EEEEE  F      III  N   N  EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+// Types PPS firmware
+#define CF_COMMAND_TYPE_MOTORS 6
+#define CF_COMMAND_TYPE_RATE   7
+#define CF_COMMAND_TYPE_ANGLE  8
+
+// Types of controllers being used:
+#define SAFE_CONTROLLER   0
+#define DEMO_CONTROLLER   1
+
+// The constants that "command" changes in the
+// operation state of this agent
+#define CMD_USE_SAFE_CONTROLLER   1
+#define CMD_USE_DEMO_CONTROLLER   2
+#define CMD_CRAZYFLY_TAKE_OFF     3
+#define CMD_CRAZYFLY_LAND         4
+#define CMD_CRAZYFLY_MOTORS_OFF   5
+
+// Flying states
+#define STATE_MOTORS_OFF 1
+#define STATE_TAKE_OFF   2
+#define STATE_FLYING     3
+#define STATE_LAND       4
+
+// Battery states
+#define BATTERY_STATE_NORMAL 0
+#define BATTERY_STATE_LOW    1
+
+// Commands for CrazyRadio
+#define CMD_RECONNECT  0
+#define CMD_DISCONNECT 1
+
+
+// CrazyRadio states:
+#define CONNECTED        0
+#define CONNECTING       1
+#define DISCONNECTED     2
+
+// For which controller parameters to load
+#define FETCH_YAML_SAFE_CONTROLLER_AGENT          1
+#define FETCH_YAML_DEMO_CONTROLLER_AGENT          2
+#define FETCH_YAML_SAFE_CONTROLLER_COORDINATOR    3
+#define FETCH_YAML_DEMO_CONTROLLER_COORDINATOR    4
+
+
+// Universal constants
+#define PI 3.141592653589
+
+// Namespacing the package
+using namespace d_fall_pps;
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    V   V    A    RRRR   III    A    BBBB   L      EEEEE   SSSS
+//    V   V   A A   R   R   I    A A   B   B  L      E      S
+//    V   V  A   A  RRRR    I   A   A  BBBB   L      EEE     SSS
+//     V V   AAAAA  R  R    I   AAAAA  B   B  L      E          S
+//      V    A   A  R   R  III  A   A  BBBB   LLLLL  EEEEE  SSSS
+//    ----------------------------------------------------------------------------------
+
+// "studentID", gives namespace and identifier in CentralManagerService
+int studentID;
+
+// The safe controller specified in the ClientConfig.yaml, is considered stable
+ros::ServiceClient safeController;
+// The Demo controller specified in the ClientConfig.yaml, is considered potentially unstable
+ros::ServiceClient demoController;
+
+//values for safteyCheck
+bool strictSafety;
+float angleMargin;
+
+// battery threshold
+float m_battery_threshold_while_flying;
+float m_battery_threshold_while_motors_off;
+
+
+// battery values
+
+int m_battery_state;
+float m_battery_voltage;
+
+Setpoint controller_setpoint;
+
+// variables for linear trayectory
+Setpoint current_safe_setpoint;
+double distance;
+double unit_vector[3];
+bool was_in_threshold = false;
+double distance_threshold;      //to be loaded from yaml
+
+
+ros::ServiceClient centralManager;
+ros::Publisher controlCommandPublisher;
+
+// communicate with safeControllerService, setpoint, etc...
+ros::Publisher safeControllerServiceSetpointPublisher;
+
+// publisher for flying state
+ros::Publisher flyingStatePublisher;
+
+// publisher for battery state
+ros::Publisher batteryStatePublisher;
+
+// publisher to send commands to itself.
+ros::Publisher commandPublisher;
+
+// communication with crazyRadio node. Connect and disconnect
+ros::Publisher crazyRadioCommandPublisher;
+
+
+// Variable for the namespaces for the paramter services
+// > For the paramter service of this agent
+std::string namespace_to_own_agent_parameter_service;
+// > For the parameter service of the coordinator
+std::string namespace_to_coordinator_parameter_service;
+
+
+// variables for the states:
+int flying_state;
+bool changed_state_flag;
+
+// variable for crazyradio status
+int crazyradio_status;
+
+//describes the area of the crazyflie and other parameters
+CrazyflieContext context;
+
+//wheter to use safe of demo controller
+int instant_controller;         //variable for the instant controller, e.g., we use safe controller for taking off and landing even if demo controller is enabled. This variable WILL change automatically
+
+// controller used:
+int controller_used;
+
+ros::Publisher controllerUsedPublisher;
+
+std::string ros_namespace;
+
+float take_off_distance;
+float landing_distance;
+float duration_take_off;
+float duration_landing;
+
+bool finished_take_off = false;
+bool finished_land = false;
+
+ros::Timer timer_takeoff;
+ros::Timer timer_land;
+
+// A ROS "bag" to store data for post-analysis
+//rosbag::Bag bag;