Revision 08be08ec
Ran astyle, though astyle options still need to be refined
| buggysim/tutorials/mimic.cpp | ||
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class Mimic |
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{
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public: |
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Mimic(); |
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Mimic();
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private: |
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void poseCallback(const turtlesim::PoseConstPtr& pose); |
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void poseCallback(const turtlesim::PoseConstPtr& pose);
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ros::Publisher vel_pub_; |
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ros::Subscriber pose_sub_; |
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ros::Publisher vel_pub_;
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ros::Subscriber pose_sub_;
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}; |
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Mimic::Mimic() |
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{
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ros::NodeHandle input_nh("input");
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ros::NodeHandle output_nh("output");
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vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1);
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pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);
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ros::NodeHandle input_nh("input");
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ros::NodeHandle output_nh("output");
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vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1);
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pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback,
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this); |
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} |
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void Mimic::poseCallback(const turtlesim::PoseConstPtr& pose) |
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{
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turtlesim::Velocity vel; |
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vel.angular = pose->angular_velocity; |
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vel.linear = pose->linear_velocity; |
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vel_pub_.publish(vel); |
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turtlesim::Velocity vel;
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vel.angular = pose->angular_velocity;
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vel.linear = pose->linear_velocity;
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vel_pub_.publish(vel);
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} |
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int main(int argc, char** argv) |
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{
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ros::init(argc, argv, "turtle_mimic"); |
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Mimic mimic; |
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ros::init(argc, argv, "turtle_mimic");
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Mimic mimic;
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ros::spin(); |
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ros::spin();
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} |
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