From e6426515c0eb58f8d4edf8911d80db6ac1b92482 Mon Sep 17 00:00:00 2001
From: Nick Amstrong <nma23@cs.washington.edu>
Date: Wed, 22 Jan 2020 18:43:23 -0800
Subject: [PATCH] added launch file and publishing commands

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

diff --git a/pub_commands.txt b/pub_commands.txt
new file mode 100644
index 0000000..8285b1b
--- /dev/null
+++ b/pub_commands.txt
@@ -0,0 +1 @@
+topic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'
diff --git a/turtlemimic.launch b/turtlemimic.launch
new file mode 100644
index 0000000..cf1900b
--- /dev/null
+++ b/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>