text: #include <vector>
  #include <ros/ros.h>
  #include <control_toolbox/pid.h>
  
  namespace mavros_moveit_controllers {
  
  class ControllerBase;
  class PositionController : public ControllerBase {
  public:
      PositionController();
      virtual ~PositionController();
  
      void init() override; // Initiates the action server
      void generateCommand(const geometry_msgs::PoseStamped& cmd_pose) override; // command pose callback
  };
  
  }