text: /**
   * @file    measurement_publisher.h
   * @author  Ashwin (ashwinvk94@gmail.com)
   * @brief	This class publishes raw position data with uniform
   * 			distributed noise
   * 			
   * @version 1.0
   * @date    10 March 2021
   * 
   */
  #ifndef MEASUREMENT_PUBLISHER_H
  #define MEASUREMENT_PUBLISHER_H
  #include <ros/ros.h>
  #include <iostream>
  #include <Eigen/Dense>
  #include <nav_msgs/Odometry.h>
  
  class MeasurementPublisher {
  private:
  	// Ros node handle
  	ros::NodeHandle nh_;
  
  	//main while loop rate
  	int publishing_rate;
  	
  	// Publishers
  	// Publish current state of the drone
  	ros::Publisher pub_measurement_;
  
  	// ROS state message
  	nav_msgs::Odometry measurement_msg_;
  
  public:
  	/**
  	 * @brief Construct a new MeasurementPublisher Filter object
  	 * 
  	 * @param n 
  	 */
  	MeasurementPublisher(ros::NodeHandle& n, bool test_flag = false);
  
  	/**
  	 * @brief Destroy the MeasurementPublisher Filter object
  	 * 
  	 */
  	~MeasurementPublisher();
  };
  #endif // MEASUREMENT_PUBLISHER_H