#pragma once

#include <rclcpp/rclcpp.hpp>
#include "message_filters/subscriber.h"
#include "message_filters/time_synchronizer.h"
#include "message_filters/sync_policies/approximate_time.hpp"
#include "interfaces/msg/input_msg.hpp"
using namespace std;
namespace input_dev{
    
    class InputSub : public rclcpp::Node {
        public:
            InputSub() ;
            vector<int> dist_arr;
	    void pub_msg(const int key,const InputCfg& cfg);
        void pub_msg(const int key,const float val,const InputCfg& cfg);
        private:
            rclcpp::Publisher<interfaces::msg::InputMsg>::SharedPtr input_pub;
            std::shared_ptr<interfaces::msg::InputMsg> input_msg; 
            
    };
}
