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Odometry based out-and-back script (py to c++)

I am a beginner learning about ROS. I want to create a similar script to this in C++. I got this from a book called "ROS-by-example" and it is in python. I am not fluent with python and ROS so I am unable to "translate" the language. Can anybody help to translate this into a C++ ROS node equivalent? Maybe just the ROS commands, I can convert the structures such as loops/variable declaration.

I know C++, but I am unfamiliar with the ROS commands such as those with the rospy.(function name). I will be able to replicate the structures (for loops and class) in C++. Your help is greatly appreciated.

#!/usr/bin/env python

""" - Version 1.1 2013-12-20
A basic demo of using the /odom topic to move a robot a given distance
or rotate through a given angle.
Created for the Pi Robot Project:
Copyright (c) 2012 Patrick Goebel.  All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.5

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details at:


import rospy
from geometry_msgs.msg import Twist, Point, Quaternion
import tf
from rbx1_nav.transform_utils import quat_to_angle, normalize_angle
from math import radians, copysign, sqrt, pow, pi

class OutAndBack():
def __init__(self):
    # Give the node a name
    rospy.init_node('out_and_back', anonymous=False)

    # Set rospy to execute a shutdown function when exiting       

    # Publisher to control the robot's speed
    self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=5)

    # How fast will we update the robot's movement?
    rate = 20

    # Set the equivalent ROS rate variable
    r = rospy.Rate(rate)

    # Set the forward linear speed to 0.2 meters per second 
    linear_speed = 0.2

    # Set the travel distance in meters
    goal_distance = 1.0

    # Set the rotation speed in radians per second
    angular_speed = 1.0

    # Set the angular tolerance in degrees converted to radians
    angular_tolerance = radians(2.5)

    # Set the rotation angle to Pi radians (180 degrees)
    goal_angle = pi

    # Initialize the tf listener
    self.tf_listener = tf.TransformListener()

    # Give tf some time to fill its buffer

    # Set the odom frame
    self.odom_frame = '/odom'

    # Find out if the robot uses /base_link or /base_footprint
        self.tf_listener.waitForTransform(self.odom_frame, '/base_footprint', rospy.Time(), rospy.Duration(1.0))
        self.base_frame = '/base_footprint'
    except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            self.tf_listener.waitForTransform(self.odom_frame, '/base_link', rospy.Time(), rospy.Duration(1.0))
            self.base_frame = '/base_link'
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("Cannot find transform between /odom and /base_link or /base_footprint")
            rospy.signal_shutdown("tf Exception")  

    # Initialize the position variable as a Point type
    position = Point()

    # Loop once for each leg of the trip
    for i in range(2):
        # Initialize the movement command
        move_cmd = Twist()

        # Set the movement command to forward motion
        move_cmd.linear.x = linear_speed

        # Get the starting position values     
        (position, rotation) = self.get_odom()

        x_start = position.x
        y_start = position.y

        # Keep track of the distance traveled
        distance = 0

        # Enter the loop to move along a side
        while distance < goal_distance and not rospy.is_shutdown():
            # Publish the Twist message and sleep 1 cycle         


            # Get the current position
            (position, rotation) = self.get_odom()

            # Compute the Euclidean distance from the start
            distance = sqrt(pow((position.x - x_start), 2) + 
                            pow((position.y - y_start), 2))

        # Stop the robot before the rotation
        move_cmd = Twist()

        # Set the movement command to a rotation
        move_cmd.angular.z = angular_speed

        # Track the last angle measured
        last_angle = rotation

        # Track how far we have turned
        turn_angle = 0

        while abs(turn_angle + angular_tolerance) < abs(goal_angle) and not rospy.is_shutdown():
            # Publish the Twist message and sleep 1 cycle         

            # Get the current rotation
            (position, rotation) = self.get_odom()

            # Compute the amount of rotation since the last loop
            delta_angle = normalize_angle(rotation - last_angle)

            # Add to the running total
            turn_angle += delta_angle
            last_angle = rotation

        # Stop the robot before the next leg
        move_cmd = Twist()

    # Stop the robot for good

def get_odom(self):
    # Get the current transform between the odom and base frames
        (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
    except (tf.Exception, tf.ConnectivityException, tf.LookupException):
        rospy.loginfo("TF Exception")

    return (Point(*trans), quat_to_angle(Quaternion(*rot)))

def shutdown(self):
    # Always stop the robot when shutting down the node.
    rospy.loginfo("Stopping the robot...")

if __name__ == '__main__':
    rospy.loginfo("Out-and-Back node terminated.")

On a side note, this code is very useful for beginners such as myself as the comments explain the code line by line and you are able to understand the thought process. Also, the book has a more detailed explanation (much like the brilliant ROS tutorials format)!