/*
 * * Hello World and Crash for Turtlebot
 * * Moves Turtlebot forward until you ctrl + c
 * * Tested using TurtleBot 2, ROS Indigo, Ubuntu 14.04
 * */

#include <iostream>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char** argv)
{
    //init the ROS node
   //   ROS_INFO_STREAM("Hello World");
          ros::init(argc, argv, "robot_driver");
         ros::NodeHandle nh;
    //
    //                //init publisher
                   ros::Publisher cmd_vel_pub_;
                    cmd_vel_pub_ = nh.advertise<geometry_msgs::Twist>("cmd_vel_mux/input/teleop", 1);
                                
    //                                //init direction that turtlebot should go
                                  geometry_msgs::Twist base_cmd;
                                   base_cmd.linear.x = base_cmd.linear.y = base_cmd.angular.z = 0;
    
    //                                            //and let's go forward by setting X to a positive value
                                                base_cmd.linear.x = 0.25;
    
                                                   //    ROS_INFO_STREAM("And Crashing ... ctrl + c to stop me :)");
  
                                                       while(nh.ok()) { //have we ctrl + C?  If no... keep going!
    //                                                                //"publish" sends the command to turtlebot to keep going
                                                                      	cmd_vel_pub_.publish(base_cmd);
                                                                 	    }
                                                                     	    }