Merge branch 'develop'

ros_midterm/src/cmd_pub.cpp

@@ -5,32 +5,49 @@
 class CmdPublisher : public rclcpp::Node
 {
 public:
-  CmdPublisher() : Node("cmd_pub"), gen_(rd_()), dis_(-2.0, 2.0)
+  CmdPublisher() : Node("cmd_pub"), gen_(rd_()), dis_(-1.0, 1.0)
   {
     publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
+    
+    // Publish at 10 Hz for continuous movement
     timer_ = this->create_wall_timer(
-      std::chrono::seconds(1),
+      std::chrono::milliseconds(100),
       std::bind(&CmdPublisher::timer_callback, this));
     
-    RCLCPP_INFO(this->get_logger(), "CMD Publisher node started");
+    // Generate new random angular velocity every second
+    random_timer_ = this->create_wall_timer(
+      std::chrono::seconds(1),
+      std::bind(&CmdPublisher::generate_random_velocity, this));
+    
+    current_angular_z_ = dis_(gen_);
+    RCLCPP_INFO(this->get_logger(), "CMD Publisher node started - Publishing at 10Hz");
   }
 
 private:
+  void generate_random_velocity()
+  {
+    current_angular_z_ = dis_(gen_);
+    RCLCPP_INFO(this->get_logger(), "New Random Angular Velocity Z: %.4f rad/s", 
+                current_angular_z_);
+  }
+
   void timer_callback()
   {
     auto message = geometry_msgs::msg::Twist();
-    message.angular.z = dis_(gen_);
+    // Add small linear velocity to help TurtleBot3 move
+    message.linear.x = 0.1;  // Small forward movement
+    message.angular.z = current_angular_z_;
     
-    RCLCPP_INFO(this->get_logger(), "Publishing Angular Velocity Z: %.4f rad/s", 
-                message.angular.z);
     publisher_->publish(message);
   }
 
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
   rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::TimerBase::SharedPtr random_timer_;
   std::random_device rd_;
   std::mt19937 gen_;
   std::uniform_real_distribution<> dis_;
+  double current_angular_z_;
 };
 
 int main(int argc, char * argv[])