transport_delay_test.cpp
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	#include "ros/ros.h"
	#include "test_package/aircraft_controls.h"
	#include "boost/date_time/posix_time/posix_time.hpp"
	#include "boost/thread.hpp"
	#include <random>

	/** PRBS generator node */
	int main(int argc, char** argv)
	{
	ros::init(argc, argv, "transport_delay_test");
	ros::NodeHandle handle;
	ros::Rate loop_rate(30);

	ros::Publisher pub = handle.advertise<test_package::aircraft_controls>("/controls", 100);
	test_package::aircraft_controls msg;
	msg.ailerons = 0;
	msg.flaps = 0;
	msg.rudder = 1;
	msg.thrust = 0;

	double rudder = 1;

	/** PRBS generator initialization */
	std::random_device device;
	std::mt19937 generator(device());
	std::uniform_int_distribution<> distribution(20, 50);

	int counter = 0;

	while(ros::ok())
	{
	// int duty_cycle = distribution(generator);
	// rudder = (rudder == 1) ? 0 : 1;
	// msg.rudder = rudder;
	// msg.header.stamp = ros::Time::now();
	// pub.publish(msg);
	// boost::this_thread::sleep(boost::posix_time::milliseconds(duty_cycle));

	if (counter < 200)
	{
	msg.rudder = 1.0;
	//std::cout << "case1: " << counter << "\n";
	}
	else if ((counter >= 200) && (counter < 400))
	{
	msg.rudder = 0.0;
	//std::cout << "case2: " << counter << "\n";
	}
	else
	counter = 0;

	msg.header.stamp = ros::Time::now();
	pub.publish(msg);
	++counter;

	loop_rate.sleep();
	}

	return 0;
	}