#include "ros/ros.h"

include "std_msgs/String.h"

include "nav_msgs/Odometry.h"

void odomCallback(const nav_msgs::Odometry::ConstPtr& odom)

{

ROS_INFO("I received odom: [%f,%f,%f]", odom->twist.twist.linear.x,

odom->pose.pose.position.y,odom->pose.pose.position.z); //store x,y,z position values

}

int main(int argc, char **argv) { ros::init(argc, argv, "listener");

ros::NodeHandle nh;

ros::Publisher movement_pub = nh.advertise<geometry_msgs::twist>("/mobile_base/commands/velocity", 10);

geometry_msgs::Twist vel;

ros::Subscriber sub_odom = nh.subscribe("odom", 1000, odomCallback);

double x_pos = odom.pose.pose.position.x;

double y_pos = odom.pose.pose.position.y;

double z_pos = odom.pose.pose.position.z;

double x_epos = 0.2; //desired end position

while (x_pos != x_epos && ros::ok()) //while robot is not at the end position

{

//move the robot towards the end position

if (x_pos <x_epos)
 { vel.linear.x = 0.19;
vel.angular.z = 0.0;}
 else
 {
      vel.linear.x = -0.19;
vel.angular.z = 0.0;
 }

movement_pub.publish(vel);

}

ros::spin();

return 0;

}