ROS_Gazebo_MultipleRobotsContolSample_11Oct12.cpp

#include <iostream>
#include <string>
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
const std::string NODE_NAME = "driveBase_multiBots";
class RobotDriver {
    private:
        ros::NodeHandle nh_;
        ros::Publisher cmd_vel_pub_;

    public:
        RobotDriver(ros::NodeHandle &nh) {
            nh_ = nh;
            cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist
            //> ("/base_controller/command", 1); // Topic 'base_controller' works only for 'base'.
            //>("crowd1/turtlebot_node/cmd_vel", 1);
            >("crowd1/turtlebot_node/cmd_vel", 1000);
            //>("/turtlebot_node/cmd_vel", 1);
        }

        void runDemoScenario() {
            sleep(2); // To avoid error upon instantiating.

            geometry_msgs::Twist base_cmd;
            base_cmd.linear.x = base_cmd.linear.y = base_cmd.angular.z = 0; // init

            base_cmd.linear.y = 10.25; //arbitrary value for testing purpose only.

            cmd_vel_pub_.publish(base_cmd);
            sleep(10); // Only to have ample time to look at rxgraph :P
        }
};

int main(int argc, char** argv) {
    ros::init(argc, argv, NODE_NAME);
    ros::NodeHandle nh;

    RobotDriver driver(nh);
    driver.runDemoScenario();
}