Experimental addition of clearZoneCenter

src/simulator/simulator/sim.py

@@ -243,6 +243,7 @@ class Sim(Node):
         super().__init__('sim')
         self.publisher_ = self.create_publisher(Float64, 'distance', 10)
         self.velopub = self.create_publisher(Float64, 'velocity', 10)
+        self.clear = self.create_publisher(Float64, 'clearCenter', 10)
         self.timer = self.create_timer(0.05, self.callback)
         self.subscription = self.create_subscription(Float64,'inputPower', self.call, 10)
 
@@ -262,6 +263,10 @@ class Sim(Node):
         msg.data = followingVelocityMpS * 1.00
         self.velopub.publish(msg)
 
+        msg = Float64()
+        msg.data = clearZoneCenter * 1.00
+        slef.clear.publish(msg)
+
 
 def main(args=None):
     rclpy.init(args=args)