https://github.com/lin775533/ros-turtlebot
https://github.com/lin775533/ros-turtlebot
Last synced: 5 months ago
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- Host: GitHub
- URL: https://github.com/lin775533/ros-turtlebot
- Owner: Lin775533
- Created: 2025-04-27T01:11:24.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2025-04-30T05:21:19.000Z (about 1 year ago)
- Last Synced: 2025-06-17T18:49:49.465Z (about 1 year ago)
- Language: Makefile
- Size: 83 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# ROS Turtlesim Navigation Lab
**Author: Yu-Chun Lin**
## Overview
This repository contains the ROS lab assignment demonstrating basic turtle navigation using the turtlesim package. Two main Python nodes were implemented:
1. **swim_node.py**: Controls the turtle to swim in continuous figure-eight patterns by alternating between left and right circular movements.
2. **swim_to_goal.py**: Implements a proportional controller that allows the turtle to navigate to user-specified (x,y) coordinates.
## Repository Structure
```
Lab3_YuChun_Lin_ws/
├── build/ # Build directory
├── devel/ # Development space
├── src/ # Source code
│ ├── autoturtle/ # ROS package
│ │ ├── scripts/
│ │ │ ├── swim_node.py
│ │ │ └── swim_to_goal.py
│ │ ├── CMakeLists.txt
│ │ └── package.xml
└── catkin_workspace # Workspace config file
```
## Implementation Details
### swim_node.py
This node makes the turtle swim in a continuous pattern of alternating circles. Key features:
- Randomly selects a linear velocity at startup
- Calculates appropriate angular velocity based on a fixed radius
- Alternates between positive and negative angular velocities to create left/right turns
- Maintains a constant publishing rate for smooth motion
### swim_to_goal.py
This node implements a proportional controller that guides the turtle to a user-specified goal. Key features:
- Subscribes to the turtle's pose to get current position and orientation
- Calculates Euclidean distance and angle to goal
- Uses proportional control for both linear and angular velocities
- Accepts user input for goal coordinates
- Stops when the turtle reaches within tolerance of the goal
## Running the Code
1. Start ROS master:
```
roscore
```
2. Launch turtlesim in a new terminal:
```
rosrun turtlesim turtlesim_node
```
3. Run either of the navigation nodes:
```
# For figure-eight swimming pattern
rosrun autoturtle swim_node.py
# For goal-directed navigation
rosrun autoturtle swim_to_goal.py
```
## Demo Images
## Technologies Used
- ROS (Robot Operating System)
- Python
- turtlesim package
- Publisher/Subscriber pattern
- Proportional control for navigation
## Learning Outcomes
- Understanding of ROS node creation and communication
- Implementation of basic robot movement algorithms
- Working with publishers and subscribers
- Development of a simple proportional controller
- Integration of user input with robot control