text: /*********************************************************************
   * Copyright LAOSAAC 2017
   *
   * Author: LD
   * GUI Panel for URSA drone control in RVIZ
   *********************************************************************/
  #include <ros/ros.h>
  #include <rviz/panel.h>
  
  #ifndef URSA_PANEL_H_
  #define URSA_PANEL_H_
  
  class QPushButton;
  class QLineEdit;
  
  namespace ursa_gui{
  
  class ursa_panel: public rviz::Panel {
  Q_OBJECT
  public:
  	ursa_panel(QWidget* parent = 0);
  	virtual void load( const rviz::Config& config );
  	virtual void save( rviz::Config config ) const;
  
  //public Q_SLOTS:
  
  protected Q_SLOTS:
  	//Slot for taking off
  	void takeoff(); 
  	//Slot for landing
  	void land(); 
  
  protected:
  	//Button to take off
  	QPushButton* _takeoff_button;
  
  	//Button to land
  	QPushButton* _land_button;
  
    	// One-line text editor for entering the altitude
    	QLineEdit* _altitude_editor;
    	double _altitude;
  
    	// Handle to the ros node and service
    	ros::NodeHandle _n;
    	ros::ServiceClient _takeoff_service;
  
  
  };//End class ursa_panel
  
  
  }//End namespace ursa_gui
  
  
  #endif