Mobility of Turtlesim in ROS1
Perform the TurtleSim simulation is ROS and make the circular movement and square movement of the turtle.
SOURCE CODE: rectangle_movement.py
#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist
# This is one logic, where square and rectangle are drawn without changing the orientation of the turtle
def square_movement():
pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
rospy.init_node('tsim_sqmove_driver', anonymous=True)
rate = rospy.Rate(1)
del_t = 0
direction = 0
while not rospy.is_shutdown():
robo_vel = Twist()
if del_t % 20:
if direction == 0:
robo_vel.linear.y = 0
robo_vel.linear.x = 1
direction = 1
elif direction == 1:
robo_vel.linear.y = 1
robo_vel.linear.x = 0
direction = 2
elif direction == 2:
robo_vel.linear.y = 0
robo_vel.linear.x = -1
direction = 3
elif direction == 3:
robo_vel.linear.y = -1
robo_vel.linear.x = 0
direction = 0
del_t += 1
pub.publish(robo_vel)
rate.sleep()
if __name__ == '__main__':
try:
square_movement()
except rospy.ROSInterruptException:
pass
 |
| Turtlesim |
triangle_movement.py
#!usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist
import math
def rotate(pub, robo_vel, angle=2*math.pi/3):
angular_speed = 2
robo_vel.angular.z = angular_speed
start_t = rospy.Time.now().to_sec()
d_angle = 0
while d_angle < angle:
pub.publish(robo_vel)
cur_t = rospy.Time.now().to_sec()
d_angle = angular_speed * (cur_t - start_t)
robo_vel.angular.z = 0
pub.publish(robo_vel)
def triangle_movement():
pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
rospy.init_node('tsim_trimove_driver', anonymous=True)
rate = rospy.Rate(1)
del_t = 0
while not rospy.is_shutdown():
robo_vel = Twist()
robo_vel.linear.x = 2
if del_t % 20 == 0 and del_t != 0:
robo_vel.linear.x = 0
rotate(pub, robo_vel, 2*math.pi/3)
del_t += 1
pub.publish(robo_vel)
rate.sleep()
if __name__ == '__main__':
try:
triangle_movement()
except rospy.ROSInterruptException:
pass
Comments
Post a Comment