From 5821cd6b424fb4ec3cf36e130bce7bce2b95ab22 Mon Sep 17 00:00:00 2001
From: Thies Lennart Alff <lennart.alff@gmail.com>
Date: Thu, 2 Nov 2023 13:45:41 +0100
Subject: [PATCH] update

---
 main.tex          | 44 +++++++++++++++++++++++++++++++++++++++-----
 tikz-settings.tex | 11 +++++++++++
 2 files changed, 50 insertions(+), 5 deletions(-)
 create mode 100644 tikz-settings.tex

diff --git a/main.tex b/main.tex
index 88b6697..45652eb 100644
--- a/main.tex
+++ b/main.tex
@@ -2,20 +2,54 @@
 \usepackage{mum-theme-beamer/mum-theme}
 
 \input{code-block-settings.tex}
+\input{tikz-settings.tex}
 
-\title{My Title}
-\subtitle{My Subtitle}
+\title{Formulas and Vehicles}
+\subtitle{Implementation of a PID-Controller}
 \date{03.11.2023}
-\author[Short Author Name]{Long Author Name}
+\author[\textbf{L. Alff}, N. Bauschmann, D. Duecker]{Lennart Alff, Nathalie Bauschmann, Daniel Duecker}
 \institute[TUHH]{Hamburg University of Technology}
 
 \begin{document}
+
 \begin{frame}
 	\titlepage
 \end{frame}
+
 \begin{frame}
-	\frametitle{First Slide Title}
-	Content of First Slide
+	\frametitle{How to Start?}
+	\textbf{\Large Identify the challenges:}\vskip0.25cm
+	\begin{enumerate}
+		\item Communication/data flow -- the ROS perspective
+		\item Implementing the control law -- the control perspective
+	\end{enumerate}
+\end{frame}
+
+\begin{frame}
+	\frametitle{ROS Graph}
+    \centering
+	\begin{tikzpicture}[node distance=10mm and 20mm]
+		\node (baro) [rosnode] {Barometer};
+		\node (setpoint_publisher)[rosnode, right=of baro] {Setpoint\\Publisher};
+		\node (controller)[rosnode, right=of setpoint_publisher] {Controller};
+		\node (depth_calculator)[rosnode, below=of setpoint_publisher] {Depth\\Calculator};
+
+		\draw[arrow] (baro) %
+		edge node [sloped, anchor=center, above] {\footnotesize pressure} %
+		node [sloped, anchor=center, below] {\tiny FluidPressure} %
+		(setpoint_publisher);
+
+		\draw[arrow] (setpoint_publisher)
+        edge node [sloped, anchor=center, above] {\footnotesize depth}
+        node [sloped, anchor=center, below] {\tiny DepthStamped}
+        (controller);
+
+        \draw[arrow] (depth_calculator)
+        edge node [sloped, anchor=center, above, xshift=-5mm] {\footnotesize depth\_setpoint}
+        node [sloped, anchor=center, below, xshift=-5mm] {\tiny Float64Stamped}
+        (controller);
+
+	\end{tikzpicture}
 \end{frame}
 
 \begin{frame}[fragile]
diff --git a/tikz-settings.tex b/tikz-settings.tex
new file mode 100644
index 0000000..1422876
--- /dev/null
+++ b/tikz-settings.tex
@@ -0,0 +1,11 @@
+\usepackage{tikz}
+\usetikzlibrary{shapes.geometric, arrows, calc, chains, backgrounds}
+
+\tikzset{
+  rosbase/.style={minimum width=20mm, minimum height=7.5mm, text centered, draw=black, align=center},
+  startstop/.style={rectangle, rounded corners, rosbase, fill=red!30},
+  rostopic/.style={rectangle, rosbase},
+  rosnode/.style={ellipse,rosbase},
+  arrow/.style={thick,->,>=stealth},
+}
+