text: /*
   * Copyright (C) BSD3.
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice,
   *    this list of conditions and the following disclaimer.
   *
   * 2. Redistributions in binary form must reproduce the above copyright notice,
   *    this list of conditions and the following disclaimer in the documentation
   *    and/or other materials provided with the distribution.
   *
   * 3. Neither the name of the copyright holder nor the names of its
   *    contributors may be used to endorse or promote products derived from
   *    this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   * 
   * @file main.cpp
   * @author Kavyashree Devadiga
   * @date 28th November 2021
   * @copyright All rights reserved
   * @brief Move turtlebot main file.
   */
  
  // Include required headers
  #include <sstream>
  #include "ros/ros.h"
  #include "std_msgs/String.h"
  #include "geometry_msgs/Twist.h"
  #include "../include/move.h"
  
  int main(int argc, char **argv) {
    /**
     * The ros::init() function needs to see argc and argv so that it can perform
     * any ROS arguments and name remapping that were provided at the command
     * line. For programmatic remappings you can use a different version of init()
     * which takes remappings directly, but for most command-line programs,
     * passing argc and argv is the easiest way to do it.  The third argument to
     * init() is the name of the node.
     */
    ros::init(argc, argv, "turtlebot_move");
  
    /**
     * NodeHandle is the main access point to communications with the ROS system.
     * The first NodeHandle constructed will fully initialize this node, and the
     * last NodeHandle destructed will close down the node.
     */
    ros::NodeHandle n;
  
    ros::Rate publish_rate(10);
  
    // Publish to bot velocity topic
    ros::Publisher send_velocity = n.advertise < geometry_msgs::Twist
        > ("cmd_vel", 500);
  
    Move move_(n);
  
    while (ros::ok()) {
      move_.startMoving(n, send_velocity, publish_rate);
    }
    return 0;
  }
  // %EndTag(FULLTEXT)%
  