Program Listing for File diff_drive_controller.hpp
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// 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.
//
// Author: Darby Lim
#ifndef TURTLEBOT3_NODE__DIFF_DRIVE_CONTROLLER_HPP_
#define TURTLEBOT3_NODE__DIFF_DRIVE_CONTROLLER_HPP_
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include "turtlebot3_node/odometry.hpp"
namespace robotis
{
namespace turtlebot3
{
class DiffDriveController : public rclcpp::Node
{
public:
explicit DiffDriveController(const float wheel_seperation, const float wheel_radius);
virtual ~DiffDriveController() {}
private:
std::shared_ptr<rclcpp::Node> nh_;
std::unique_ptr<Odometry> odometry_;
};
} // namespace turtlebot3
} // namespace robotis
#endif // TURTLEBOT3_NODE__DIFF_DRIVE_CONTROLLER_HPP_