area_division.h

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#ifndef AREA_DIVISION_H
#define AREA_DIVISION_H

#include <ros/ros.h>
#include <map>
#include <vector>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetMap.h>
#include <cpswarm_msgs/AreaDivisionEvent.h>
#include <swarmros/String.h>
#include "lib/area_division.h"

using namespace std;
using namespace ros;
string uuid;

Publisher pos_pub;

Publisher swarm_pub;

Publisher area_pub;

Rate* rate;

map<string, geometry_msgs::PoseStamped> swarm_pose;

bool swarm_valid;

geometry_msgs::Pose pose;

bool pose_valid;

nav_msgs::OccupancyGrid gridmap;

bool map_valid;

area_division* division;

double swarm_timeout;

bool visualize;

bool reconfigure;

Time sync_start;

#endif // AREA_DIVISION_H