19 #ifndef TURTLEBOT3_FAKE_H_ 20 #define TURTLEBOT3_FAKE_H_ 26 #include <std_msgs/Int32.h> 27 #include <sensor_msgs/Imu.h> 28 #include <sensor_msgs/JointState.h> 29 #include <geometry_msgs/Vector3.h> 30 #include <geometry_msgs/Twist.h> 33 #include <nav_msgs/Odometry.h> 35 #include <turtlebot3_msgs/SensorState.h> 39 #define WHEEL_RADIUS 0.033 // meter 44 #define MAX_LINEAR_VELOCITY 0.22 // m/s 45 #define MAX_ANGULAR_VELOCITY 2.84 // rad/s 46 #define VELOCITY_STEP 0.01 // m/s 47 #define VELOCITY_LINEAR_X 0.01 // m/s 48 #define VELOCITY_ANGULAR_Z 0.1 // rad/s 49 #define SCALE_VELOCITY_LINEAR_X 1 50 #define SCALE_VELOCITY_ANGULAR_Z 1 52 #define DEG2RAD(x) (x * 0.01745329252) // *PI/180 53 #define RAD2DEG(x) (x * 57.2957795131) // *180/PI 55 #define TORQUE_ENABLE 1 // Value for enabling the torque of motor 56 #define TORQUE_DISABLE 0 // Value for disabling the torque of motor 111 void updateTF(geometry_msgs::TransformStamped& odom_tf);
114 #endif // TURTLEBOT3_FAKE_H_ std::string joint_states_name_[2]
ros::Publisher joint_states_pub_
ros::Subscriber cmd_vel_sub_
sensor_msgs::JointState joint_states_
ros::Time last_cmd_vel_time_
double wheel_speed_cmd_[2]
void commandVelocityCallback(const geometry_msgs::TwistConstPtr cmd_vel_msg)
ros::Time prev_update_time_
bool updateOdometry(ros::Duration diff_time)
tf::TransformBroadcaster tf_broadcaster_
double goal_angular_velocity_
void updateTF(geometry_msgs::TransformStamped &odom_tf)
double goal_linear_velocity_