#include "ros/ros.h"
#include <papillon/BoundingBox.h>
#include <geometry_msgs/Twist.h>

#include <opencv/cv.h>

#include <sstream>

using namespace std;

class Drone_control {
	public:
		cv::Rect objectBoundingRectangle = cv::Rect(0,0,0,0);

		ros::NodeHandle n;

		ros::Publisher pub_cmd;
		ros::Subscriber sub_box;


		Drone_control() : n("~") {
			pub_cmd = n.advertise<geometry_msgs::Twist>("/bebop/cmd_vel", 1);
			sub_box = n.subscribe<papillon::BoundingBox>("/papillon/bbox", 1, &Drone_control::on_msg, this);
		}


		// This processes an image and publishes the result.
		void on_msg(const papillon::BoundingBox::ConstPtr& bbox) {
			ROS_INFO("plop");
		}
};


int main(int argc, char **argv)
{
	ros::init(argc, argv, "control");
	Drone_control con=Drone_control();
	ros::spin();

	return 0;
}