base_motor_node.h

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#ifndef __BASE_MOTOR_NODE_H__
#define __BASE_MOTOR_NODE_H__

#include "base_motor_driver.h"
#include <tf/transform_broadcaster.h>

// messages
#include <nav_msgs/Odometry.h>
#include <geometry_msgs/Twist.h>

class BaseMotorNode {
    public:
        BaseMotorNode();

        ~BaseMotorNode();

        void init();

        void spin();

        // publishers and subscribers

        void publish();

        void twist_callback(const geometry_msgs::Twist::ConstPtr& cmd_vel);

    private:
        // nodes
        ros::NodeHandle _nh;
        ros::NodeHandle _nh_private;

        // publishers and subscribers
        ros::Publisher odom_pub;
        ros::Subscriber sub;

        // spin rate
        ros::Rate _publish_rate;

        ros::Time _current_time, _last_time;

        tf::TransformBroadcaster odom_broadcaster;

        BaseMotor _bm;
};

#endif