updated ros wrapper to work with can sdk

scout_base/include/scout_base/scout_messenger.hpp

@@ -0,0 +1,64 @@
+/* 
+ * scout_messenger.hpp
+ * 
+ * Created on: Jun 14, 2019 10:24
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#ifndef SCOUT_MESSENGER_HPP
+#define SCOUT_MESSENGER_HPP
+
+#include <string>
+#include <boost/thread.hpp>
+
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+#include <tf/transform_broadcaster.h>
+#include <nav_msgs/Odometry.h>
+
+#include "scout/scout_base.hpp"
+
+namespace wescore
+{
+class ScoutROSMessenger
+{
+public:
+    ScoutROSMessenger(ScoutBase &scout, ros::NodeHandle nh);
+
+    int control_rate_;
+    std::string odom_frame_;
+    std::string base_frame_;
+
+    void SetupSubscription();
+    void PublishStateToROS();
+
+private:
+    ScoutBase &scout_;
+    ros::NodeHandle nh_;
+    int32_t cmd_timeout_counter_ = 0;
+
+    std::mutex twist_mutex_;
+    geometry_msgs::Twist current_twist_;
+
+    ros::Publisher odom_publisher_;
+    ros::Subscriber cmd_subscriber_;
+    tf::TransformBroadcaster tf_broadcaster_;
+
+private:
+    // speed variables
+    double linear_speed_ = 0.0;
+    double angular_speed_ = 0.0;
+    double position_x_ = 0.0;
+    double position_y_ = 0.0;
+    double theta_ = 0.0;
+
+    ros::Time last_time_;
+    ros::Time current_time_;
+
+    void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
+};
+} // namespace scout
+
+#endif /* SCOUT_MESSENGER_HPP */