text: /**
   * MIT License
   *
   * Copyright (c) 2021 Sameer Pusegaonkar
   * 
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is furnished
   * to do so, subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
   * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   * SOFTWARE.
   * 
   * @file walker.h
   * @author Sameer Pusegaonkar (sameer@umd.edu)
   * @brief A walker header file for implementing the walker methods
   * @version 0.1
   * @date 2021-11-25
   * @copyright MIT License (c) 2021 Samer Pusegaonkar
   */
  
  #ifndef INCLUDE_WALKER_H_
  #define INCLUDE_WALKER_H_
  #include "ros/ros.h"
  #include "sensor_msgs/LaserScan.h"
  #include "geometry_msgs/Twist.h"
  
  class Walker {
   public:
    /**
      * @brief Constructor for the Walker class
    */
    Walker();
  
    /**
     * @brief Moves the robot
     * @return void
     */
    void Travel();
  
    /**
     * @brief A callback method for the laser scanner. This method will set the IsObstacleNearby flag.
     * @param msg 
     */
    void LaserCallback(const sensor_msgs::LaserScan::ConstPtr& msg);
  
   private:
    ros::Subscriber laser_subscriber;  // Subscribes to get laser data
    ros::Publisher velocity_publisher;  // Publishes velocity
    geometry_msgs::Twist velocity;
    ros::NodeHandle n;
    bool IsObstacleNearby;  // flag to see if obstacle is nearby
  };
  
  #endif  // INCLUDE_WALKER_H_
  