// Golden path for live ROS2 /cmd_vel publish via rclpy bridge.
//
//   source /opt/ros/humble/setup.bash
//   export SPANDA_ROS2_LIVE=1
//   spanda run examples/communication/ros2_cmd_vel_ping.sd
//   ./scripts/ros2_golden_path.sh

module ros2_cmd_vel_ping;

robot Ros2Ping {
  topic cmd_vel: Velocity publish on "/cmd_vel";
  actuator wheels: DifferentialDrive;

  behavior ping() {
    publish cmd_vel with velocity(linear: 0.1 m/s, angular: 0.0 rad/s);
    wheels.stop();
  }
}
