\documentclass[aspectratio=169]{beamer}
\usepackage{mum-theme-beamer/mum-theme}

\input{code-block-settings.tex}
\input{tikz-settings.tex}

\title{Formulas and Vehicles}
\subtitle{Implementation of a PID-Controller}
\date{03.11.2023}
\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{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]
	\frametitle{Code-Block}
	% \begin{noindent}
	\begin{pythoncode}{}
import time
print('hello')
	\end{pythoncode}
    % \end{noindent}
\end{frame}

\end{document}
