mimic.cpp

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#include <ros/ros.h>
#include <turtlesim/Pose.h>
#include <geometry_msgs/Twist.h>
 
class Mimic
{
public:
  Mimic();
 
private:
  void poseCallback(const turtlesim::PoseConstPtr& pose);
 
  ros::Publisher twist_pub_;
  ros::Subscriber pose_sub_;
};
 
Mimic::Mimic()
{
  ros::NodeHandle input_nh("input");
  ros::NodeHandle output_nh("output");
  twist_pub_ = output_nh.advertise<geometry_msgs::Twist>("cmd_vel", 1);
  pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);
}
 
void Mimic::poseCallback(const turtlesim::PoseConstPtr& pose)
{
  geometry_msgs::Twist twist;
  twist.angular.z = pose->angular_velocity;
  twist.linear.x = pose->linear_velocity;
  twist_pub_.publish(twist);
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "turtle_mimic");
  Mimic mimic;
 
  ros::spin();
}