ROS Turtle Sim | ROS Noetic Tutorial 3

ROS Turtlesim

This post shows you how to run turtlesim in ROS Noetic OS.

Perform the TurtleSim simulation in ROS and make the circular movement and square movement of the turtle.

Instructions:

Step 1: Open a Terminal and  start the roscore 

$ roscore

Step 2: Open another Terminal

To open turtlesim, give the following command.

$ rosrun turtlesim turtlesim_node

Open another Terminal

$ rosrun turtlesim turtle_teleop_key

Open the first Terminal and run the command 

$ rosrun turtlesim turtlesim_node

Open the Second Terminal, go to your workspace

$ cd pradeep_ws/ 

$ source ./devel/setup.bash

$ rosrun ros_tutorial1 circular_movement.py

Code: circular_movement.py

#!/usr/bin/env python3

# license removed for brevity

import rospy

from geometry_msgs.msg import Twist

def circular_movement_node():

    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)

    rospy.init_node('tbsim_driver', anonymous=True)

    rate = rospy.Rate(1) 

    while not rospy.is_shutdown():

        robot_velocity =Twist()

        robot_velocity.linear.x =3.0

        robot_velocity.angular.z=1.8

        pub.publish(robot_velocity)

        rate.sleep()

if __name__ == '__main__':

    try:

        circular_movement_node()

    except rospy.ROSInterruptException:

        pass

Output: Square and Circular Movement.

ROS Turtlesim