.. _program_listing_file__tmp_ws_src_turtlebot3_simulations_turtlebot3_gazebo_include_turtlebot3_gazebo_turtlebot3_drive.hpp:

Program Listing for File turtlebot3_drive.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_simulations_turtlebot3_gazebo_include_turtlebot3_gazebo_turtlebot3_drive.hpp>` (``/tmp/ws/src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Authors: Taehun Lim (Darby), Ryan Shim
   
   #ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
   #define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
   
   #include <geometry_msgs/msg/twist.hpp>
   #include <nav_msgs/msg/odometry.hpp>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/laser_scan.hpp>
   #include <tf2/LinearMath/Matrix3x3.h>
   #include <tf2/LinearMath/Quaternion.h>
   
   #define DEG2RAD (M_PI / 180.0)
   #define RAD2DEG (180.0 / M_PI)
   
   #define CENTER 0
   #define LEFT   1
   #define RIGHT  2
   
   #define LINEAR_VELOCITY  0.3
   #define ANGULAR_VELOCITY 1.5
   
   #define GET_TB3_DIRECTION 0
   #define TB3_DRIVE_FORWARD 1
   #define TB3_RIGHT_TURN    2
   #define TB3_LEFT_TURN     3
   
   class Turtlebot3Drive : public rclcpp::Node
   {
   public:
     Turtlebot3Drive();
     ~Turtlebot3Drive();
   
   private:
     // ROS topic publishers
     rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
   
     // ROS topic subscribers
     rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
     rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
   
     // Variables
     double robot_pose_;
     double prev_robot_pose_;
     double scan_data_[3];
   
     // ROS timer
     rclcpp::TimerBase::SharedPtr update_timer_;
   
     // Function prototypes
     void update_callback();
     void update_cmd_vel(double linear, double angular);
     void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
     void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
   };
   #endif  // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_