RoboBuggy

#include <ros/ros.h>

#include <turtlesim/Pose.h>

#include <turtlesim/Velocity.h>

class Mimic

{

public:

   Mimic();

private:

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

   ros::Publisher vel_pub_;

   ros::Subscriber pose_sub_;

};

Mimic::Mimic()

{

   ros::NodeHandle input_nh("input");

   ros::NodeHandle output_nh("output");

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

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

               this);

}

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

{

   turtlesim::Velocity vel;

   vel.angular = pose->angular_velocity;

   vel.linear = pose->linear_velocity;

   vel_pub_.publish(vel);

}

int main(int argc, char** argv)

{

   ros::init(argc, argv, "turtle_mimic");

   Mimic mimic;

   ros::spin();

}