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I suggest you create a player class and take the main method out of it. This way, you can instantiate a new robot and use it as a variable in a ROS class.

What I mean:

First class: - PlayerLaser (inherits player) - starts player (from inherited methods) - has laser messages (now laser is an object)

Second class: - RosLaser - Has methods to get laser data. - Has a return method

In your main method (separate entity): - create a ROS publisher - create a Robot (or PlayerLaser) - have a RosLaser::getLaserMessage() function that returns the ROS laser type - publish the method

There are some examples with a player class on my github.

I suggest you create a player class and take the main method out of it. This way, you can instantiate a new robot and use it as a variable in a ROS class.

What I mean:

First class: - PlayerLaser (inherits player) - starts player (from inherited methods) - has laser messages (now laser is an object)

Second class: - RosLaser - Has methods to get laser data. - Has a return method

In your main method (separate entity): - create a ROS publisher - create a Robot (or PlayerLaser) - have a RosLaser::getLaserMessage() function that returns the ROS laser type - publish the method

There are some examples with a player class on my github.

I suggest you create a player class and take the main method out of it. This way, you can instantiate a new robot and use it as a variable in a ROS class.

What I mean:

First class:

Second class:

In your main method (separate entity): - create a ROS publisher - create a Robot (or PlayerLaser) - have a RosLaser::getLaserMessage() function that returns the ROS laser type - publish the method

There are some examples with a player class on my github.

I suggest you create a player class and take the main method out of it. This way, you can instantiate a new robot and use it as a variable in a ROS class.

What I mean:

First class:

• PlayerLaser (inherits player)
  • starts player (from inherited methods)
  • has laser messages (now laser is an object)

Second class:

• RosLaser
  • Has methods to get laser data.
  • Has a return method

There are some examples with a player class on my github.

I suggest you create a player class and take the main method out of it. This way, you can instantiate a new robot and use it as a variable in a ROS class.

What I mean:

First class:

• PlayerLaser (inherits player)
  • starts player (from inherited methods)
  • has laser messages (now laser is an object)

Second class:

• RosLaser
  • Has methods to get laser data.
  • Has a return method
• In your main method (separate entity):
  • create a ROS publisher
  • create a Robot (or PlayerLaser)
  • have a RosLaser::getLaserMessage() function that returns the ROS laser type
  • publish the method

There are some examples with a player class on my github. As for a ROS class, look here.