Revision dd5d7f53
Converted back to msgs, before pushing to roboclub VCS
| turtlesim_ref/tutorials/draw_square.cpp | ||
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#include <boost/bind.hpp> |
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#include <ros/ros.h> |
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#include <turtlesim/Pose.h> |
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#include <turtlesim/Velocity.h> |
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#include <turtlesim_ref/Pose.h>
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#include <turtlesim_ref/Velocity.h>
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#include <std_srvs/Empty.h> |
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turtlesim::PoseConstPtr g_pose; |
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turtlesim::Pose g_goal; |
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turtlesim_ref::PoseConstPtr g_pose;
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turtlesim_ref::Pose g_goal;
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enum State |
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{
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| ... | ... | |
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#define PI 3.141592 |
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void poseCallback(const turtlesim::PoseConstPtr& pose) |
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void poseCallback(const turtlesim_ref::PoseConstPtr& pose)
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{
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g_pose = pose; |
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} |
| ... | ... | |
| 43 | 43 |
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void commandTurtle(ros::Publisher vel_pub, float linear, float angular) |
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{
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turtlesim::Velocity vel; |
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turtlesim_ref::Velocity vel;
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vel.linear = linear; |
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vel.angular = angular; |
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vel_pub.publish(vel); |
| ... | ... | |
| 150 | 150 |
ros::init(argc, argv, "draw_square"); |
| 151 | 151 |
ros::NodeHandle nh; |
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ros::Subscriber pose_sub = nh.subscribe("turtle1/pose", 1, poseCallback);
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ros::Publisher vel_pub = nh.advertise<turtlesim::Velocity>("turtle1/command_velocity", 1);
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ros::Publisher vel_pub = nh.advertise<turtlesim_ref::Velocity>("turtle1/command_velocity", 1);
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ros::ServiceClient reset = nh.serviceClient<std_srvs::Empty>("reset");
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| 155 | 155 |
ros::Timer timer = nh.createTimer(ros::Duration(0.016), boost::bind(timerCallback, _1, vel_pub)); |
| 156 | 156 |
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