Add mimic tutorial

Author: Abdelrahmanosama372

examples/turtlesim_rs/Cargo.toml

@@ -18,6 +18,10 @@ path = "src/turtlesim.rs"
 name = "turtle_teleop_key"
 path = "tutorials/turtle_teleop_key.rs"
 
+[[bin]]
+name = "mimic"
+path = "tutorials/mimic.rs"
+
 [dependencies.rclrs]
 version = "0.4"
 

examples/turtlesim_rs/tutorials/mimic.rs

@@ -0,0 +1,51 @@
+use rclrs::{Context, Node, Publisher, Subscription, QOS_PROFILE_DEFAULT};
+use std::env;
+use std::sync::Arc;
+
+#[allow(unused)]
+struct Mimic {
+    output_nh: Arc<Node>,
+    input_nh: Arc<Node>,
+    twist_pub: Arc<Publisher<geometry_msgs::msg::Twist>>,
+    pose_sub: Arc<Subscription<turtlesim_rs_msgs::msg::Pose>>,
+}
+
+impl Mimic {
+    fn new() -> Self {
+        let context = Context::new(env::args()).unwrap();
+        let output_nh = rclrs::create_node(&context, "output").unwrap();
+
+        let twist_pub = output_nh
+            .create_publisher("/output/cmd_vel", QOS_PROFILE_DEFAULT)
+            .unwrap();
+
+        let input_nh = rclrs::create_node(&context, "input").unwrap();
+
+        let twist_pub_clone = Arc::clone(&twist_pub);
+        let pose_sub = input_nh
+            .create_subscription(
+                "/input/pose",
+                QOS_PROFILE_DEFAULT,
+                move |pose_msg: turtlesim_rs_msgs::msg::Pose| {
+                    let mut twist_msg = geometry_msgs::msg::Twist::default();
+                    twist_msg.linear.x = pose_msg.linear_velocity as f64;
+                    twist_msg.angular.z = pose_msg.angular_velocity as f64;
+                    twist_pub_clone.publish(twist_msg).unwrap();
+                },
+            )
+            .unwrap();
+
+        Self {
+            output_nh,
+            input_nh,
+            twist_pub,
+            pose_sub,
+        }
+    }
+}
+
+fn main() -> Result<(), rclrs::RclrsError> {
+    let mimic = Mimic::new();
+    rclrs::spin(mimic.input_nh.clone())?;
+    Ok(())
+}