ROS-Turtlesim

Demo

demo.mov

Environment

ROS distro: noetic
ROS version: 1.15.14
OS: Ubuntu 20.04.4 LTS x86_64

How to use

Download install_script.sh

Give execute permission

chmod +x install_script.sh

Then

./install_script.sh

Configure the ros environment

source /opt/ros/noetic/setup.bash

Source the pet_ws workspace

cd pet_ws/

. .bashrc

roslaunch

roslaunch system_bringup system_bringup.launch

Use rosservice, in the second terminal

Note: remember to source .bashrc under /pet_ws every time start a new terminal

To run in a circle with radius = 1

rosservice call /turtle_drive "{task: circle, radius: 1}"

To run in a square with side length = 1

rosservice call /turtle_drive "{task: square, length: 1}"

To follow waypoints

rosservice call /turtle_drive "{task: custom, waypoints: {poses: [{pose: {position: {x: 1, y: 1}}}, {pose: {position: {x: 3, y: 5}}}, {pose: {position: {x: 7, y: 7}}}]}}"