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turtlesim_controller package from ros2_galactic_tutorials repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs qos_tests_pkg quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_composition examples_rclcpp_cbg_executor examples_rclcpp_multithreaded_executor examples_rclcpp_minimal_client examples_rclcpp_minimal_service examples_rclcpp_minimal_timer examples_rclcpp_minimal_publisher examples_rclcpp_minimal_subscriber examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_executors examples_rclpy_guard_conditions examples_rclpy_minimal_client examples_rclpy_minimal_service examples_rclpy_minimal_publisher examples_rclpy_minimal_subscriber examples_rclpy_pointcloud_publisher geometry_tutorials turtle_tf2_cpp turtle_tf2_py time_api_test turtlesim turtlesim_controller tutorial_interfaces

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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Collections of ros2 galactic demo code
Checkout URI https://github.com/shoufei403/ros2_galactic_tutorials.git
VCS Type git
VCS Version master
Last Updated 2022-07-26
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • kevin

Authors

No additional authors.
turtlesim_controller/readme.md

项目简介

本项目实现了对turtlesim中turtle的控制。这个项目主要用于实践ROS2养成计划课程内容。目前有直线行走一定距离，原地旋转一定角度等控制模式。如果大家有实现一些自己的功能可以提PR，以丰富该项目。并且也可以在课程上与大家分享演示。

运行方法

启动turtlesim

ros2 run turtlesim turtlesim_node

这时会弹出一个框，里面有一只乌龟，乌龟默认名称是turtle1。写代码的时候会用到这个名称。 可以用下面的命令再生成一只乌龟，名称会是turtle2. 生成的乌龟名字是按顺序命名的。

ros2 service call /spawn turtlesim/srv/Spawn "x: 5.0
y: 5.0
theta: 0.0
name: ''"

运行控制器

新打开一个命令窗口。运行下面的命令。

ros2 run turtlesim_controller turtlesim_controller_node

新打开一个命令窗口。运行下面的命令切换乌龟行走模式。
向前行走两米

ros2 run turtlesim_controller turtlesim_controller_client 1

左转90度

ros2 run turtlesim_controller turtlesim_controller_client 2

以加载参数文件的形式运行

ros2 run turtlesim_controller turtlesim_controller_node --ros-args --params-file /home/kevin/galactic_ws/src/tn_ros2_tutorials/turtlesim_controller/params/turtlesim_controller.yaml

参数文件的路径需要改成自己的

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common
rclcpp
rclcpp_action
std_msgs
geometry_msgs
tutorial_interfaces
turtlesim

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged turtlesim_controller at Robotics Stack Exchange

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