add test

src/ecnu_competition/ecnu_competition/CMakeLists.txt

@@ -0,0 +1,201 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ecnu_competition)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  visualization_msgs
+  nav_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   visualization_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  LIBRARIES using_markers
+  CATKIN_DEPENDS
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/using_markers.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/using_markers_node.cpp)
+add_executable(basic_shapes src/basic_shapes.cpp)
+target_link_libraries(basic_shapes ${catkin_LIBRARIES})
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_using_markers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/ecnu_competition/ecnu_competition/package.xml

@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ecnu_competition</name>
+  <version>0.0.0</version>
+  <description>The ecnu_competition package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="shermandozer@todo.todo">shermandozer</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/using_markers</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>visualization_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>visualization_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/ecnu_competition/ecnu_competition/src/basic_shapes.cpp

@@ -0,0 +1,265 @@
+#include <ros/ros.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+#include <nav_msgs/Odometry.h>
+//#include <cservice/c_srv.h>
+#include<iostream>
+class odomObserve
+{
+public:
+  odomObserve()
+  {
+    //Topic you want to publish
+    //pub_ = n_.advertise<PUBLISHED_MESSAGE_TYPE>("/published_topic", 1);
+    shape = visualization_msgs::Marker::CUBE;
+    //shape = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    for(int i=0;i<12;i++){
+      flags[i] = false;
+      //rect[i][0] = (i+2)/2;
+      //rect[i][1] =  (i+3)/2;
+    }
+    
+    rect[0][0] = 4.5;
+    rect[0][1] =  10;
+    rect[1][0] = 1.5;
+    rect[1][1] =  9;
+    rect[2][0] = 3;
+    rect[2][1] =  7.5;
+    
+    rect[3][0] = 2.5;
+    rect[3][1] =  5.3;
+    rect[4][0] = 2.5;
+    rect[4][1] =  2.5;
+    rect[5][0] = 6;
+    rect[5][1] =  6.5;
+    
+    rect[6][0] =  6;
+    rect[6][1] = 2.5;
+    rect[7][0] = 9.0;
+    rect[7][1] = 0.6;
+    rect[8][0] = 9.0;
+    rect[8][1] = 6.2;
+    
+    rect[9][0] = 10;
+    rect[9][1] = 7.5;
+    rect[10][0] = 10.0;
+    rect[10][1] = 10.0;
+    rect[11][0] = 7.0;
+    rect[11][1] = 10.0;
+    
+    start_flag = false;
+    end_flag = false;
+    
+    marker_pub = n.advertise<visualization_msgs::MarkerArray>("MarkerArray", 20);
+    
+    num_pub = n.advertise<visualization_msgs::MarkerArray>("NumberArray", 20);
+    
+    //Topic you want to subscribe
+    //sub_ = n_.subscribe("/subscribed_topic", 1, &SubscribeAndPublish::callback, this);
+    odom_sub = n.subscribe("robot0/odom", 100, &odomObserve::callback_odom,this);
+  }
+ 
+  void callback_odom(const nav_msgs::Odometry::ConstPtr& odom)//订阅/odom主题回调函数
+  {    
+  
+    float x,y; 
+    x = odom -> pose.pose.position.x;
+    y = odom -> pose.pose.position.y;
+   
+    
+    
+    fillMarkers(x,y);
+    fillMarkers2(x,y);
+    // Publish the marker
+    if (marker_pub.getNumSubscribers() < 1)
+    {
+      if (!ros::ok())
+      {
+        return ;
+      }
+      ROS_WARN_ONCE("Please create a subscriber to the marker");
+      sleep(1);
+    }
+    
+    marker_pub.publish(markerList);
+    
+    num_pub.publish(numberList);
+
+    
+  }
+ 
+
+  bool checkIfGet(int i){
+  	return flags[i];
+  }
+  void rectChange(float x, float y,int i){
+    if(x< rect[i][0]+0.25 &&x>rect[i][0]-0.25 && y<rect[i][1]+0.25 && y>rect[i][1]-0.25){
+      if(start_flag == false && i == 0){
+        start_flag = true; 
+        start_time  =  ros::Time::now().toSec();
+        ROS_WARN_ONCE("game start time now");
+      }
+      else if(end_flag == false && i == 11){
+        end_flag = true;
+        use_time = ros::Time::now().toSec() - start_time;
+        ROS_WARN_ONCE("game end time now, you use time [%lf]",use_time);
+        std::cout<<use_time; 
+      }
+      flags[i] = true;  
+         
+    }
+      	  	
+  }
+  
+  void fillMarkers(float x, float y){
+    markerList.markers.clear();
+    
+    for(int i=0;i<12;i++){
+      visualization_msgs::Marker marker;
+      marker.color.r = 0.0f;
+      marker.color.g = 1.0f;
+      marker.color.b = 0.0f;
+      marker.color.a = 0.2f;
+      // Set the frame ID and timestamp.  See the TFbase_linkutorials for information on these.
+      marker.header.frame_id = "map";
+      marker.header.stamp = ros::Time::now();
+      // Set the namespace and id for this marker.  This serves to create a unique ID
+      // Any marker sent with the same namespace and id will overwrite the old one
+      marker.ns = "basic_shapes";
+      marker.id = i;
+
+      // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
+      marker.type = shape;
+
+      // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
+      marker.action = visualization_msgs::Marker::ADD;
+
+      // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
+      marker.pose.position.x = rect[i][0];
+      marker.pose.position.y = rect[i][1];
+      marker.pose.position.z = 0;
+    
+      marker.pose.orientation.x = 0.0;
+      marker.pose.orientation.y = 0.0;
+      marker.pose.orientation.z = 0.0;
+      marker.pose.orientation.w = 1.0;
+
+      // Set the scale of the marker -- 1x1x1 here means 1m on a side
+      marker.scale.x = 0.5;
+      marker.scale.y = 0.5;
+      marker.scale.z = 0.5;
+      rectChange(x,y,i);
+      // Set the color -- be sure to set alpha to something non-zero!
+      if(checkIfGet(i)){
+        marker.color.r = 1.0f;
+        marker.color.g = 0.0f;
+        marker.color.b = 0.0f;
+        marker.color.a = 0.2f;
+      }
+      
+      //marker.text = "tzz";
+      marker.lifetime = ros::Duration();
+      
+      markerList.markers.push_back(marker);
+      
+     
+      
+      
+    }
+  } 
+  
+  void fillMarkers2(float x, float y){
+    
+    numberList.markers.clear();
+    for(int i=0;i<12;i++){
+      visualization_msgs::Marker marker;
+      marker.color.r = 0.0f;
+      marker.color.g = 1.0f;
+      marker.color.b = 0.0f;
+      marker.color.a = 1.0f;
+      // Set the frame ID and timestamp.  See the TFbase_linkutorials for information on these.
+      marker.header.frame_id = "map";
+      marker.header.stamp = ros::Time::now();
+      // Set the namespace and id for this marker.  This serves to create a unique ID
+      // Any marker sent with the same namespace and id will overwrite the old one
+      marker.ns = "basic_shapes";
+      
+      // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
+      marker.type = shape;
+
+      // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
+      marker.action = visualization_msgs::Marker::ADD;
+
+      // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
+      marker.pose.position.x = rect[i][0];
+      marker.pose.position.y = rect[i][1];
+      marker.pose.position.z = 0;
+    
+      marker.pose.orientation.x = 0.0;
+      marker.pose.orientation.y = 0.0;
+      marker.pose.orientation.z = 0.0;
+      marker.pose.orientation.w = 1.0;
+
+      // Set the scale of the marker -- 1x1x1 here means 1m on a side
+      marker.scale.x = 0.5;
+      marker.scale.y = 0.5;
+      marker.scale.z = 0.5;
+      rectChange(x,y,i);
+      // Set the color -- be sure to set alpha to something non-zero!
+      if(checkIfGet(i)){
+        marker.color.r = 1.0f;
+        marker.color.g = 0.0f;
+        marker.color.b = 0.0f;
+        marker.color.a = 1.0f;
+      }
+      
+      //marker.text = "tzz";
+      marker.lifetime = ros::Duration();
+      std::ostringstream str;
+
+      str<<i;
+
+      marker.text=str.str();
+     
+        marker.type  = visualization_msgs::Marker::TEXT_VIEW_FACING;  
+        marker.color.a = 1.0f;
+        marker.id = i+12;
+        numberList.markers.push_back(marker);
+     
+      
+      
+    }
+  } 
+    
+private:
+  ros::NodeHandle n; 
+  ros::Publisher marker_pub,num_pub;
+  ros::Subscriber odom_sub;
+  //ros::ServiceClient client; 
+  visualization_msgs::MarkerArray markerList, numberList;
+  //visualization_msgs::Marker marker;
+  uint32_t shape = visualization_msgs::Marker::CUBE;
+  bool flags[12],start_flag,end_flag;
+  float rect[12][2];//x,y
+  double use_time,start_time;
+};//End of class SubscribeAndPublish
+
+
+
+int main(int argc, char **argv)
+{
+  //Initiate ROS
+  ros::init(argc, argv, "basic_shapes");
+ 
+  //Create an object of class SubscribeAndPublish that will take care of everything
+  odomObserve oo;
+
+  ros::spin();
+ 
+  return 0;
+
+}
+
+
+
+

src/ecnu_competition/ecnu_competition/src/basic_shapesBackup.cpp

@@ -0,0 +1,146 @@
+#include <ros/ros.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+#include <nav_msgs/Odometry.h>
+#include <cservice/c_srv.h>
+
+class odomObserve
+{
+public:
+  odomObserve()
+  {
+    //Topic you want to publish
+    //pub_ = n_.advertise<PUBLISHED_MESSAGE_TYPE>("/published_topic", 1);
+    shape = visualization_msgs::Marker::CUBE;
+    for(int i=0;i<5;i++){
+      flags[i] = false;
+      rect[i][0] = i+2;
+      rect[i][1] =  i+3;
+    }
+    
+    
+    client = n.serviceClient<cservice::c_srv>("recive_a_bool");
+    marker_pub = n.advertise<visualization_msgs::MarkerArray>("MarkerArray", 5);
+    //Topic you want to subscribe
+    //sub_ = n_.subscribe("/subscribed_topic", 1, &SubscribeAndPublish::callback, this);
+    odom_sub = n.subscribe("robot0/odom", 100, &odomObserve::callback_odom,this);
+  }
+ 
+  void callback_odom(const nav_msgs::Odometry::ConstPtr& odom)//订阅/odom主题回调函数
+  {    
+  
+    float x,y; 
+    x = odom -> pose.pose.position.x;
+    y = odom -> pose.pose.position.y;
+   
+    
+    
+    fillMarkers(x,y);
+    // Publish the marker
+    if (marker_pub.getNumSubscribers() < 1)
+    {
+      if (!ros::ok())
+      {
+        return ;
+      }
+      ROS_WARN_ONCE("Please create a subscriber to the marker");
+      sleep(1);
+    }
+    
+    marker_pub.publish(markerList);
+
+    
+  }
+ 
+
+  bool checkIfGet(int i){
+        cservice::c_srv srv;
+        srv.request.a = flags[i];
+        client.call(srv);
+  	return flags[i];
+  }
+  void rectChange(float x, float y,int i){
+    if(x< rect[i][0]+0.5 &&x>rect[i][0]-0.5 & y<rect[i][1]+0.5&& y>rect[i][1]-0.5)
+      flags[i] = true;  	  	
+  }
+  void fillMarkers(float x, float y){
+    markerList.markers.clear();
+    for(int i=0;i<5;i++){
+      visualization_msgs::Marker marker;
+      marker.color.r = 0.0f;
+      marker.color.g = 1.0f;
+      marker.color.b = 0.0f;
+      marker.color.a = 0.5f;
+      // Set the frame ID and timestamp.  See the TFbase_linkutorials for information on these.
+      marker.header.frame_id = "map";
+      marker.header.stamp = ros::Time::now();
+      // Set the namespace and id for this marker.  This serves to create a unique ID
+      // Any marker sent with the same namespace and id will overwrite the old one
+      marker.ns = "basic_shapes";
+      marker.id = i;
+
+      // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
+      marker.type = shape;
+
+      // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
+      marker.action = visualization_msgs::Marker::ADD;
+
+      // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
+      marker.pose.position.x = rect[i][0];
+      marker.pose.position.y = rect[i][1];
+      marker.pose.position.z = 0;
+    
+      marker.pose.orientation.x = 0.0;
+      marker.pose.orientation.y = 0.0;
+      marker.pose.orientation.z = 0.0;
+      marker.pose.orientation.w = 1.0;
+
+      // Set the scale of the marker -- 1x1x1 here means 1m on a side
+      marker.scale.x = 1.0;
+      marker.scale.y = 1.0;
+      marker.scale.z = 1.0;
+      rectChange(x,y,i);
+      // Set the color -- be sure to set alpha to something non-zero!
+      if(checkIfGet(i)){
+        marker.color.r = 1.0f;
+        marker.color.g = 0.0f;
+        marker.color.b = 0.0f;
+        marker.color.a = 0.5f;
+      }
+    
+      marker.lifetime = ros::Duration();
+      markerList.markers.push_back(marker);
+    }
+  } 
+    
+private:
+  ros::NodeHandle n; 
+  ros::Publisher marker_pub;
+  ros::Subscriber odom_sub;
+  ros::ServiceClient client; 
+  visualization_msgs::MarkerArray markerList;
+  //visualization_msgs::Marker marker;
+  uint32_t shape = visualization_msgs::Marker::CUBE;
+  bool flags[5];
+  float rect[5][2];//x,y
+};//End of class SubscribeAndPublish
+
+
+
+int main(int argc, char **argv)
+{
+  //Initiate ROS
+  ros::init(argc, argv, "basic_shapes");
+ 
+  //Create an object of class SubscribeAndPublish that will take care of everything
+  odomObserve oo;
+
+  ros::spin();
+ 
+  return 0;
+
+}
+
+
+
+