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Revision dd5d7f53

IDdd5d7f53f35da669816c1c93b173eed3bfa0e962
Parent 3f5aa522
Child 071e2c1c

Added by tahm over 10 years ago

Converted back to msgs, before pushing to roboclub VCS

View differences:

turtlesim_ref/tutorials/mimic.cpp
1 1 
#include <ros/ros.h>
2 
#include <turtlesim/Pose.h>
3 
#include <turtlesim/Velocity.h>
2 
#include <turtlesim_ref/Pose.h>
3 
#include <turtlesim_ref/Velocity.h>
4 4 

  		




  5
  5
  
    
class Mimic


  		




  6
  6
  
    
{


  		




  ......




  8
  8
  
    
  Mimic();


  		




  9
  9
  
    

  		




  10
  10
  
    
private:


  		




  11
  
  
    
  void poseCallback(const turtlesim::PoseConstPtr& pose);


  		




  
  11
  
    
  void poseCallback(const turtlesim_ref::PoseConstPtr& pose);


  		




  12
  12
  
    

  		




  13
  13
  
    
  ros::Publisher vel_pub_;


  		




  14
  14
  
    
  ros::Subscriber pose_sub_;


  		




  ......




  18
  18
  
    
{


  		




  19
  19
  
    
  ros::NodeHandle input_nh("input");


  		




  20
  20
  
    
  ros::NodeHandle output_nh("output");


  		




  21
  
  
    
  vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1);


  		




  22
  
  
    
  pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);


  		




  
  21
  
    
  vel_pub_ = output_nh.advertise<turtlesim_ref::Velocity>("command_velocity", 1);


  		




  
  22
  
    
  pose_sub_ = input_nh.subscribe<turtlesim_ref::Pose>("pose", 1, &Mimic::poseCallback, this);


  		




  23
  23
  
    
}


  		




  24
  24
  
    

  		




  25
  
  
    
void Mimic::poseCallback(const turtlesim::PoseConstPtr& pose)


  		




  
  25
  
    
void Mimic::poseCallback(const turtlesim_ref::PoseConstPtr& pose)


  		




  26
  26
  
    
{


  		




  27
  
  
    
  turtlesim::Velocity vel;


  		




  
  27
  
    
  turtlesim_ref::Velocity vel;


  		




  28
  28
  
    
  vel.angular = pose->angular_velocity;


  		




  29
  29
  
    
  vel.linear = pose->linear_velocity;


  		




  30
  30
  
    
  vel_pub_.publish(vel);


  		












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