From e09575f9fa1392e2c3364bf19a28630df022481a Mon Sep 17 00:00:00 2001
From: Brian Lee <joonl4@uw.edu>
Date: Fri, 17 Jan 2020 15:08:38 -0800
Subject: [PATCH] added launch file copy and velocity command

---
 launch/turtlemimic.launch | 16 ++++++++++++++++
 velocity_command          |  1 +
 2 files changed, 17 insertions(+)
 create mode 100644 launch/turtlemimic.launch
 create mode 100644 velocity_command

diff --git a/launch/turtlemimic.launch b/launch/turtlemimic.launch
new file mode 100644
index 0000000..cf1900b
--- /dev/null
+++ b/launch/turtlemimic.launch
@@ -0,0 +1,16 @@
+<launch>
+
+  <group ns="turtlesim1">
+    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
+  </group>
+
+  <group ns="turtlesim2">
+    <node pkg="turtlesim" name="sim" type="turtlesim_node"/>
+  </group>
+
+  <node pkg="turtlesim" name="mimic" type="mimic">
+    <remap from="input" to="turtlesim1/turtle1"/>
+    <remap from="output" to="turtlesim2/turtle1"/>
+  </node>
+
+</launch>
diff --git a/velocity_command b/velocity_command
new file mode 100644
index 0000000..6b22c93
--- /dev/null
+++ b/velocity_command
@@ -0,0 +1 @@
+rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'