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ROS 2 package of omni_turtlesim
omni-directional version of turtlesim
# On Terminal 1
$ ros2 run omni_turtlesim turtlesim_node
# On Terminal 2
$ ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=/turtle1/cmd_vel
turtlesim_node provides a simple simulator.
- turtleX/cmd_vel (geometry_msgs/Twist)
- The linear and angular command velocity for turtleX. The turtle will execute a velocity command for 1 second then time out. Twist.linear.x is the forward velocity and Twist.angular.z is the angular velocity.
- turtleX/pose (omni_turtlesim/Pose)
- The x, y, theta, linear velocity, and angular velocity of turtleX.
- turtleX/color_sensor (omni_turtlesim/Color)
- The RGB color on the color sensor on turtleX.
- clear (std_srvs/Empty)
- Clears the turtlesim background and sets the color to the value of the background parameters.
- reset (std_srvs/Empty)
- Resets the turtlesim to the start configuration and sets the background color to the value of the background.
- kill (omni_turtlesim/Kill)
- Kills a turtle by name.
- spawn (omni_turtlesim/Spawn)
- Spawns a turtle at (x, y, theta) and returns the name of the turtle. Also will take name for argument but will fail if a duplicate name.
- turtleX/set_pen (omni_turtlesim/SetPen)
- Sets the pen's color (r g b), width (width), and turns the pen on and off (off).
- turtleX/teleport_absolute (omni_turtlesim/TeleportAbsolute)
- Teleports the turtleX to (x, y, theta).
- turtleX/teleport_relative (omni_turtlesim/TeleportRelative)
- Teleports the turtleX a linear and angular distance from the turtles current position.
- ~background_b (int, default: 255)
- Sets the blue channel of the background color.
- ~background_g (int, default: 86)
- Sets the green channel of the background color.
- ~background_r (int, default: 69)
- Sets the red channel of the background color.
mimic provides a simple interface for making one turtlesim mimic another.
- input/pose (omni_turtlesim/Pose)
- The input topic for the mimic node. The topic must be remapped to the pose topic of the desired turtle to mimic.
- output/cmd_vel (geometry_msgs/Twist)
- The output topic for the mimic node. The topic must be remapped to the cmd_vel topic of the mimicking turtle.
(C) 2020 Daisuke Sato
This repository is released under the 3-Clause BSD License (BSD-3-Clause), see LICENSE.
This software is based on turtlesim, released under the 3-Clause BSD license.
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