From 42a458973274ab598db5eb82ae359a16017ce075 Mon Sep 17 00:00:00 2001
From: Nicolas Kuhl <nicolas.kuhl@rub.de>
Date: Thu, 29 Jun 2023 05:48:40 +0200
Subject: [PATCH] added velocity

---
 src/simulator/simulator/sim.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/simulator/simulator/sim.py b/src/simulator/simulator/sim.py
index 399a17e..4046d0e 100644
--- a/src/simulator/simulator/sim.py
+++ b/src/simulator/simulator/sim.py
@@ -242,6 +242,7 @@ class Sim(Node):
     def __init__(self):
         super().__init__('sim')
         self.publisher_ = self.create_publisher(Float64, 'distance', 10)
+        self.velopub = self.create_publisher(Float64, 'velocity', 10)
         self.timer = self.create_timer(0.05, self.callback)
         self.subscription = self.create_subscription(Float64,'inputPower', self.call, 10)
 
@@ -254,6 +255,10 @@ class Sim(Node):
         msg.data = (leadingPosMeter - followingPosMeter) * 1.00
         self.publisher_.publish(msg)
 
+        msg = Float64()
+        msg.data = followingVelocityMpS * 1.00
+        self.velopub.publish(msg)
+
 
 def main(args=None):
     rclpy.init(args=args)