.. _program_listing_file__tmp_ws_src_turtlebot3_simulations_turtlebot3_fake_node_include_turtlebot3_fake_node_turtlebot3_fake_node.hpp:

Program Listing for File turtlebot3_fake_node.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_turtlebot3_simulations_turtlebot3_fake_node_include_turtlebot3_fake_node_turtlebot3_fake_node.hpp>` (``/tmp/ws/src/turtlebot3_simulations/turtlebot3_fake_node/include/turtlebot3_fake_node/turtlebot3_fake_node.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: Yoonseok Pyo, Ryan Shim
   
   #ifndef TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_
   #define TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_
   
   #include <tf2/LinearMath/Quaternion.h>
   #include <rclcpp/rclcpp.hpp>
   #include <chrono>
   
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "geometry_msgs/msg/twist.hpp"
   #include "nav_msgs/msg/odometry.hpp"
   #include "sensor_msgs/msg/joint_state.hpp"
   #include "tf2_msgs/msg/tf_message.hpp"
   #include "turtlebot3_msgs/msg/sensor_state.hpp"
   
   #define LEFT 0
   #define RIGHT 1
   
   class Turtlebot3Fake : public rclcpp::Node
   {
   public:
     Turtlebot3Fake();
     ~Turtlebot3Fake();
   
   private:
     // ROS time
     rclcpp::Time last_cmd_vel_time_;
     rclcpp::Time prev_update_time_;
   
     // ROS timer
     rclcpp::TimerBase::SharedPtr update_timer_;
   
     // ROS topic publishers
     rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
     rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr joint_states_pub_;
     rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr tf_pub_;
   
     // ROS topic subscribers
     rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
   
   
     nav_msgs::msg::Odometry odom_;
     sensor_msgs::msg::JointState joint_states_;
   
     double wheel_speed_cmd_[2];
     double goal_linear_velocity_;
     double goal_angular_velocity_;
     double cmd_vel_timeout_;
     double last_position_[2];
     double last_velocity_[2];
     float odom_pose_[3];
     float odom_vel_[3];
   
     double wheel_seperation_;
     double wheel_radius_;
   
     // Function prototypes
     void init_parameters();
     void init_variables();
     void command_velocity_callback(const geometry_msgs::msg::Twist::SharedPtr cmd_vel_msg);
     void update_callback();
     bool update_odometry(const rclcpp::Duration & diff_time);
     void update_joint_state();
     void update_tf(geometry_msgs::msg::TransformStamped & odom_tf);
   };
   #endif  // TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_