https://github.com/aj1904/ros2-tamu-logo

Create TAMU logo using ROS2
https://github.com/aj1904/ros2-tamu-logo

python ros2 turtlesim ubuntu

Last synced: 8 months ago
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Create TAMU logo using ROS2

• Host: GitHub
• URL: https://github.com/aj1904/ros2-tamu-logo
• Owner: AJ1904
• License: apache-2.0
• Created: 2024-12-30T16:29:35.000Z (10 months ago)
• Default Branch: main
• Last Pushed: 2024-12-30T16:37:42.000Z (10 months ago)
• Last Synced: 2024-12-30T17:29:49.672Z (10 months ago)
• Topics: python, ros2, turtlesim, ubuntu
• Language: Python
• Homepage: https://github.com/AJ1904/ROS2-TAMU-logo/
• Size: 197 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Create TAMU logo using ROS2

This project involved creating a program that coordinates multiple turtle robots to draw specified patterns in parallel. The program utilizes ROS (Robot Operating System) and includes functionalities for spawning, controlling, and navigating multiple turtles.

https://github.com/user-attachments/assets/d1bcef6b-cb9d-4a9d-8ac2-2476c6a4bb47

The execution begins with a launch file that initializes the `LogoDrawer` node, taking the parameter `num_turtles`. The program then creates `num_turtles` instances of the `TurtleController` node, enabling simultaneous drawing by multiple turtles.

### Key Functionalities

1. **Turtle Movement and Drawing**:

   - Each `TurtleController` node manages its turtle's movement to draw assigned lines.

   - Logic for spawning, killing, and navigating turtles is implemented for synchronized control.

2. **Distributed Control**:

   - Individual publishers, subscribers, and service clients control each turtle independently.

   - Parallel execution of nodes allows for efficient drawing.

---

## Functions and Components

### Functions

- **`line_length`**:

  Calculates the Euclidean distance between two points (endpoints of a line segment).

- **`divide_lines_into_parts`**:

  Distributes lines among turtles for approximately equal workload.

### Components

- **`cmd_publisher`**:

  Publishes velocity commands to control the turtle's movement.

- **`pose_subscriber`**:

  Subscribes to the turtle's pose updates for position and orientation tracking.

- **`pen_client`**:

  Controls the turtle's pen state (up or down) via the `SetPen` service.

- **`spawn_turtle`**:

  Spawns a turtle at a specific position using the `Spawn` service.

- **`timer_callback`**:

  Periodically triggers movement logic to draw lines.

---

## Design Choices

1. **Parameterization**:

   - The number of turtles can be specified as a parameter, adding flexibility.

2. **Parallel Execution**:

   - Each turtle operates independently through its `TurtleController` instance.

3. **Modular Design**:

   - Tasks are divided into classes and functions for maintainability.

---

## Multi-Robot Handling

- **Individual Control**:

  Each turtle has its own publisher, subscriber, and service client.

- **Synchronized Execution**:

  Timer callbacks ensure periodic and coordinated actions across turtles.

---

## Movement Control

- **Timers**:

  Trigger periodic updates for each turtle's movement.

- **Pose Updates**:

  Real-time updates on position and orientation allow precise control.

- **Services**:

  Enable switching between drawing and non-drawing states.

---

## Specific Values

- **Timer Interval**: `0.1` seconds for `timer_callback`.

- **Distance Threshold**: `0.01` to determine when to stop moving.

- **Angle Threshold**: `0.001` for orientation adjustments.

- **Initial Position**: `(5.544445, 5.544445, initial_angle)`.

These values were fine-tuned through testing to achieve desired movement behavior.

---

## Observations

### Results

- **Consistency**: Turtle movements are inconsistent. The logo is drawn successfully in some runs, while in others, the turtles go out of bounds.

- **Challenges**: Significant effort was made to improve reliability and accuracy.

### Performance with Different Numbers of Turtles

1. **Two Turtles**:

   The drawing is relatively stable and accurate.

   

3. **Ten Turtles**:

   Increased complexity often leads to issues with synchronization and boundary constraints.

   

   

---

## Conclusion

This project showcased the challenges and intricacies of coordinating multiple robots in a distributed system. Despite some inconsistencies, the implementation demonstrated the ability to achieve synchronized drawing with parallel execution.