controller.h

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#include <iostream>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/Float64.h>
#include <nav_msgs/Odometry.h>

#include <tf2/LinearMath/Quaternion.h>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>


class controller
{
public:
        controller(ros::NodeHandle & nh, ros::NodeHandle& nh_private);

        void init_vars();

        void cmd_vel_cb(const geometry_msgs::Twist &vel);

        void odom_cb(const nav_msgs::Odometry &);

        void vel_publish();

        void stop_bot();

        void get_params();
        
private:
        ros::NodeHandle nh_;
        ros::NodeHandle nh_private_;
        
        ros::Subscriber vel_sub;
        ros::Subscriber odom_sub_;
        
        ros::Publisher front_right_cmd_pub;
        ros::Publisher front_left_cmd_pub;
        ros::Publisher back_right_cmd_pub;
        ros::Publisher back_left_cmd_pub;

        geometry_msgs::Twist velocity;
        // std_msgs::Float64 omega;
        std_msgs::Float64 omega_1, omega_2, omega_3, omega_4;
        float x_dot, y_dot;
        float yaw;

        float vel_mul, wheel_rad, diag_dist;

        float max_lin_vel, max_angular_vel;
};