def __init__(self):
    self.namespace = rospy.get_param('name_space', 'scout_1')
    self.w_s = rospy.get_param('wheel_separation', 1.768)
    self.w_r = rospy.get_param('wheel_separation', 0.3048)
    if ('/' in self.namespace):
        rospy.logerr('[rover_motion_controller] invalid namespace. namespace can not contain /')
        exit(1)
    self.lf_steering_pub = rospy.Publisher((('/' + self.namespace) + '/fl_steering_arm_controller/command'), Float64, queue_size=2)
    self.rf_steering_pub = rospy.Publisher((('/' + self.namespace) + '/fr_steering_arm_controller/command'), Float64, queue_size=2)
    self.lr_steering_pub = rospy.Publisher((('/' + self.namespace) + '/bl_steering_arm_controller/command'), Float64, queue_size=2)
    self.rr_steering_pub = rospy.Publisher((('/' + self.namespace) + '/br_steering_arm_controller/command'), Float64, queue_size=2)
    self.lf_axle_pub = rospy.Publisher((('/' + self.namespace) + '/fl_wheel_controller/command'), Float64, queue_size=2)
    self.rf_axle_pub = rospy.Publisher((('/' + self.namespace) + '/fr_wheel_controller/command'), Float64, queue_size=2)
    self.lr_axle_pub = rospy.Publisher((('/' + self.namespace) + '/bl_wheel_controller/command'), Float64, queue_size=2)
    self.rr_axle_pub = rospy.Publisher((('/' + self.namespace) + '/br_wheel_controller/command'), Float64, queue_size=2)
    self.steering_cmd = 0
    self.linear_vel = 0
    self.linear_x = 0
    self.angular_z = 0
    rospy.Subscriber('/csi_rover/cmd_vel', Twist, callback=self.directional_movement)
    rospy.init_node('rover_motion_controller', anonymous=True)
    rate = rospy.Rate(30)
    while (not rospy.is_shutdown()):
        if (self.angular_z != 0):
            self.rf_axle_pub.publish(((self.linear_x + ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.rr_axle_pub.publish(((self.linear_x + ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.lf_axle_pub.publish(((self.linear_x - ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.lr_axle_pub.publish(((self.linear_x - ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.synchronized_steering(0)
        else:
            self.lf_axle_pub.publish(self.linear_vel)
            self.lr_axle_pub.publish(self.linear_vel)
            self.rf_axle_pub.publish(self.linear_vel)
            self.rr_axle_pub.publish(self.linear_vel)
            self.synchronized_steering(self.steering_cmd)
        rate.sleep()
def __init__(self):
    self.namespace = rospy.get_param('name_space', 'scout_1')
    self.w_s = rospy.get_param('wheel_separation', 1.768)
    self.w_r = rospy.get_param('wheel_separation', 0.3048)
    if ('/' in self.namespace):
        rospy.logerr('[rover_motion_controller] invalid namespace. namespace can not contain /')
        exit(1)
    self.lf_steering_pub = rospy.Publisher((('/' + self.namespace) + '/fl_steering_arm_controller/command'), Float64, queue_size=2)
    self.rf_steering_pub = rospy.Publisher((('/' + self.namespace) + '/fr_steering_arm_controller/command'), Float64, queue_size=2)
    self.lr_steering_pub = rospy.Publisher((('/' + self.namespace) + '/bl_steering_arm_controller/command'), Float64, queue_size=2)
    self.rr_steering_pub = rospy.Publisher((('/' + self.namespace) + '/br_steering_arm_controller/command'), Float64, queue_size=2)
    self.lf_axle_pub = rospy.Publisher((('/' + self.namespace) + '/fl_wheel_controller/command'), Float64, queue_size=2)
    self.rf_axle_pub = rospy.Publisher((('/' + self.namespace) + '/fr_wheel_controller/command'), Float64, queue_size=2)
    self.lr_axle_pub = rospy.Publisher((('/' + self.namespace) + '/bl_wheel_controller/command'), Float64, queue_size=2)
    self.rr_axle_pub = rospy.Publisher((('/' + self.namespace) + '/br_wheel_controller/command'), Float64, queue_size=2)
    self.steering_cmd = 0
    self.linear_vel = 0
    self.linear_x = 0
    self.angular_z = 0
    rospy.Subscriber('/csi_rover/cmd_vel', Twist, callback=self.directional_movement)
    rospy.init_node('rover_motion_controller', anonymous=True)
    rate = rospy.Rate(30)
    while (not rospy.is_shutdown()):
        if (self.angular_z != 0):
            self.rf_axle_pub.publish(((self.linear_x + ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.rr_axle_pub.publish(((self.linear_x + ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.lf_axle_pub.publish(((self.linear_x - ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.lr_axle_pub.publish(((self.linear_x - ((self.angular_z * self.w_s) / 2.0)) / self.w_r))
            self.synchronized_steering(0)
        else:
            self.lf_axle_pub.publish(self.linear_vel)
            self.lr_axle_pub.publish(self.linear_vel)
            self.rf_axle_pub.publish(self.linear_vel)
            self.rr_axle_pub.publish(self.linear_vel)
            self.synchronized_steering(self.steering_cmd)
        rate.sleep()