omni_turtlesim

dashing-devel	eloquent-devel	foxy-devel

ROS 2 package of omni_turtlesim

omni-directional version of turtlesim

Usage

# 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

ROS Nodes

turtlesim_node

turtlesim_node provides a simple simulator.

Subscribed Topics

• 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.

Published Topics

• 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.

Services

• 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.

Parameters

• ~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

mimic provides a simple interface for making one turtlesim mimic another.

Subscribed Topics

• 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.

Published Topics

• 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.

License

(C) 2020 Daisuke Sato

This repository is released under the 3-Clause BSD License (BSD-3-Clause), see LICENSE.

Acknowledgements

This software is based on turtlesim, released under the 3-Clause BSD license.

/*
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