### How can my controller receive the position of another object recognised by the Vicon system?
In the ``calculateControlOutput`` function of your ``CustomControllerService.cpp`` file is called everytime that the Vicon system provides new data, where this data is provided to ``calculateControlOutput`` function in the ``request`` variable and the calculated control output to apply is returned in the ``response``. In this way the ``calculateControlOutput`` function is performing in ROS what is referred to as a service. This service is advertised in the ``main()`` function of your ``CustomControllerService.cpp`` file by the line of code:
