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Hello all,

My arduino send geometry twist message about robot path on /robotpath topic, when i type rostopic echo /robotpath i see the values (x,y,theta) change, but my subscribe node on ros read just the first value when it runs and hold it. I need to build a path controller for my project.

Thanks a lot.

my code is:

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

class robocont
{
public:
  robocont();

private:
  void roboCallback(const geometry_msgs::Twist::ConstPtr& robotpath);
  ros::NodeHandle nh_controller;
  ros::Subscriber robo_sub; 
};

 robocont::robocont()
{ 
  robo_sub = nh_controller.subscribe<geometry_msgs::Twist>("/robotpath", 1000, &robocont::roboCallback, this);
}

void robocont::roboCallback(const geometry_msgs::Twist::ConstPtr& robotpath)
{
  while(nh_controller.ok()){  
  ROS_INFO("Robot Postion:(%.2f, %.2f. %.2f)" ,robotpath->linear.x, robotpath->linear.y, robotpath->angular.z);
}
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "odometry_Control");
  robocont odometry_Control;
  ros::spin();
}