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); }
Mimic::Mimic() { ros::NodeHandle input_nh("input"); ros::NodeHandle output_nh("output"); ros::NodeHandle nh("~"); speed_scale = 1.0; nh.getParam("speed_scale", speed_scale); ROS_INFO("Speed scale is %.1f", speed_scale); vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1); pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this); }