mimic.cpp
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00001 #include <ros/ros.h>
00002 #include <turtlesim/Pose.h>
00003 #include <geometry_msgs/Twist.h>
00004 
00005 class Mimic
00006 {
00007 public:
00008   Mimic();
00009 
00010 private:
00011   void poseCallback(const turtlesim::PoseConstPtr& pose);
00012 
00013   ros::Publisher twist_pub_;
00014   ros::Subscriber pose_sub_;
00015 };
00016 
00017 Mimic::Mimic()
00018 {
00019   ros::NodeHandle input_nh("input");
00020   ros::NodeHandle output_nh("output");
00021   twist_pub_ = output_nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
00022   pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);
00023 }
00024 
00025 void Mimic::poseCallback(const turtlesim::PoseConstPtr& pose)
00026 {
00027   geometry_msgs::Twist twist;
00028   twist.angular.z = pose->angular_velocity;
00029   twist.linear.x = pose->linear_velocity;
00030   twist_pub_.publish(twist);
00031 }
00032 
00033 int main(int argc, char** argv)
00034 {
00035   ros::init(argc, argv, "turtle_mimic");
00036   Mimic mimic;
00037 
00038   ros::spin();
00039 }
00040 


turtlesim
Author(s): Josh Faust
autogenerated on Sun Mar 20 2016 04:51:25