#include <ros/ros.h> // For the ROS system
#include <geometry_msgs/Twist.h> // Twist message type
#include <cstdlib.h> // For Random number generator


int main( int argc, char ** argv )
{
  ros::init( argc, argv, "randomwalk_generator" );
  
  ros::NodeHandle node_handle;

  ROS_INFO_STREAM("Welcome to the world of tomorrow!");

  ros::Publisher vel_cmd_publisher = node_handle.advertise<geometry_msgs::Twist>("turtlebot1/cmd_vel", 1000);
  
  ros::Rate rate(2);
  while ( ros::ok() )
    {

      geometry_msgs::Twist msg;

      msg.linear.x = double(rand())/RAND_MAX;
      msg.angular.z = 2*double(rand())/RAND_MAX -1;
      
      vel_cmd_publisher.publish(msg);
      rate.sleep();
    }
  
  
  return 0;
}