diff --git a/src/autopilot.cpp b/src/autopilot.cpp
new file mode 100644
index 0000000..4c95b26
--- /dev/null
+++ b/src/autopilot.cpp
@@ -0,0 +1,24 @@
+#include <ros/ros.h>
+#include "std_msgs/String.h"
+#include <geometry_msgs/Twist.h>
+
+int main(int argc, char** argv)
+{
+	ros::init(argc,argv, "autopilot");
+	
+	// Subscribe to the cmd_vel topic
+	ros::NodeHandle nh;
+	ros::Publisher cmdVelPub = nh.advertise<geometry_msg::Twist>("cmd_vel",1);
+    
+	ros::Rate loopRate(10);
+    
+	while(ros::ok())
+	{
+		geometry_msg::Twist msg;
+		msg.angular.z =1;
+		mdVelPub.publish(msg);
+		ros::spinOnce();
+		loopRate.sleep();
+	}
+	return 0;
+}