Create Marah

[marahalhessn4-droid]

Code ros2

[marahalhessn4-droid]

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake mimic --dependencies rclcpp geometry_msgs turtlesim
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"

using std::placeholders::_1;

class Mimic2 : public rclcpp::Node
{
public:
Mimic2() : Node("turtle_mimic_2")
{
publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("turtle3/cmd_vel", 10);
subscription_ = this->create_subscription<geometry_msgs::msg::Twist>(
"turtle2/cmd_vel", 10, std::bind(&Mimic2::topic_callback, this, _1));
}

private:
void topic_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
publisher_->publish(*msg);
}
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared());
rclcpp::shutdown();
return 0;
}
add_executable(mimic_2 src/mimic_2.cpp)
ament_target_dependencies(mimic_2 rclcpp geometry_msgs)

install(TARGETS mimic_2
DESTINATION lib/${PROJECT_NAME})
rclcpp
geometry_msgs
turtlesim
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
return LaunchDescription([
Node(
package='turtlesim',
namespace='turtlesim',
executable='turtlesim_node',
name='sim'
),
Node(
package='turtlesim',
executable='turtle_teleop_key',
name='teleop',
prefix='xterm -e'
),
Node(
package='mimic',
executable='mimic',
name='mimic',
remappings=[
('/input/input_pose', '/turtle1/pose'),
('/output/cmd_vel', '/turtle2/cmd_vel')
]
),
Node(
package='mimic',
executable='mimic_2',
name='mimic_2',
remappings=[
('/turtle2/cmd_vel', '/turtle2/cmd_vel'),
('/turtle3/cmd_vel', '/turtle3/cmd_vel')
]
)
])
cd ~/ros2_ws
colcon build --packages-select mimic
source install/setup.bash
ros2 launch mimic mimic_launch.py
turtle_teleop_key (velocity commands)
|
v
turtle1 (publisher)
|
v
mimic_node (subscriber -> publisher)
| |
v v
turtle2 (mimic1) mimic2_node (subscriber -> publisher)
|
v
turtle3 (mimic2)
void topic_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
auto new_msg = *msg;
new_msg.linear.x *= -1; // عكس الاتجاه
new_msg.angular.z *= -1; // عكس الدوران
publisher_->publish(new_msg);
}

[marahalhessn4-droid]

`mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
source /opt/ros/humble/setup.bash
cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake mimic --dependencies rclcpp geometry_msgs turtlesim
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/twist.hpp"

using std::placeholders::_1;

class Mimic2 : public rclcpp::Node
{
public:
Mimic2() : Node("turtle_mimic_2")
{
publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("turtle3/cmd_vel", 10);
subscription_ = this->create_subscription<geometry_msgs::msg::Twist>(
"turtle2/cmd_vel", 10, std::bind(&Mimic2::topic_callback, this, _1));
}

private:
void topic_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
publisher_->publish(*msg);
}
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared());
rclcpp::shutdown();
return 0;
}
add_executable(mimic_2 src/mimic_2.cpp)
ament_target_dependencies(mimic_2 rclcpp geometry_msgs)

install(TARGETS mimic_2
DESTINATION lib/${PROJECT_NAME})
rclcpp
geometry_msgs
turtlesim
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
return LaunchDescription([
Node(
package='turtlesim',
namespace='turtlesim',
executable='turtlesim_node',
name='sim'
),
Node(
package='turtlesim',
executable='turtle_teleop_key',
name='teleop',
prefix='xterm -e'
),
Node(
package='mimic',
executable='mimic',
name='mimic',
remappings=[
('/input/input_pose', '/turtle1/pose'),
('/output/cmd_vel', '/turtle2/cmd_vel')
]
),
Node(
package='mimic',
executable='mimic_2',
name='mimic_2',
remappings=[
('/turtle2/cmd_vel', '/turtle2/cmd_vel'),
('/turtle3/cmd_vel', '/turtle3/cmd_vel')
]
)
])
cd ~/ros2_ws
colcon build --packages-select mimic
source install/setup.bash
ros2 launch mimic mimic_launch.py
turtle_teleop_key (velocity commands)
|
v
turtle1 (publisher)
|
v
mimic_node (subscriber -> publisher)
| |
v v
turtle2 (mimic1) mimic2_node (subscriber -> publisher)
|
v
turtle3 (mimic2)
void topic_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
{
auto new_msg = *msg;
new_msg.linear.x *= -1; // عكس الاتجاه
new_msg.angular.z *= -1; // عكس الدوران
publisher_->publish(new_msg);
}
`