private Node createDefaultNode(double barWidth, double barHeight) {
    switch (defaultNodeType) {
        case CYLINDER:
            return new Cylinder(barWidth / 2, barHeight);
        case CUBE:
            return new Box(barWidth, barHeight, barWidth);
        default:
            return new Box(barWidth, barHeight, barWidth);
    }
}
 

@Override
public void start(Stage primaryStage) throws Exception {
	primaryStage.setResizable(false);
	Scene scene = new Scene(root, 1024, 800, true);
	
	// Create and position camera
	Camera camera = new PerspectiveCamera();
	camera.getTransforms().addAll(
			new Rotate(0, Rotate.Y_AXIS),
			new Rotate(0, Rotate.X_AXIS),
			new Translate(-500, -425, 1200));
	scene.setCamera(camera);
	scene.setFill(Paint.valueOf(Color.BLACK.toString()));
	
	// Box
	testObject = new Cylinder(10, 50);
	testObject.setMaterial(new PhongMaterial(Color.RED));
	testObject.getTransforms().addAll(new Translate(50, 0, 0));
	
	TdsModelImporter model_importer = new TdsModelImporter();
	model_importer.read(getClass().getResource("/models/SpaceLaunchSystem.3DS"));
	Node[] nodes = model_importer.getImport();
	model_importer.close();
	Group rocket = new Group(nodes);
	rocket.getTransforms().addAll(new Translate(0, 25, 0));

	// Build the Scene Graph
	root.getChildren().addAll(testObject, rocket);

	primaryStage.setScene(scene);
	primaryStage.show();
	
	primaryStage.setOnCloseRequest(new EventHandler<WindowEvent>() {
		@Override
		public void handle(WindowEvent event) {
			System.out.println(event);
			if (event.getEventType().equals(WindowEvent.WINDOW_CLOSE_REQUEST)) {
				System.exit(0);
			}
		}
	});
	
	mqttClient.subscribe(MQTT_TOPIC_IMU + "/#");
}