https://github.com/nhjschulz/turtlesim_teleop_python

ROS2 TurtleSim Python Controller
https://github.com/nhjschulz/turtlesim_teleop_python

Last synced: about 1 month ago
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ROS2 TurtleSim Python Controller

• Host: GitHub
• URL: https://github.com/nhjschulz/turtlesim_teleop_python
• Owner: nhjschulz
• License: mit
• Created: 2024-08-12T15:04:56.000Z (5 months ago)
• Default Branch: master
• Last Pushed: 2024-09-25T07:05:31.000Z (4 months ago)
• Last Synced: 2024-10-25T20:26:52.431Z (3 months ago)
• Language: Python
• Size: 42 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# turtlesim_teleop_python

A ROS2 TurtleSim  Python Controller similar to turtle_teleop_key, but

using python turtle command scripts for controlling instead of key strokes.

Running this example wiill result in the following output:

![turtle_sim_pythonop_demo](./doc/turtlesim_pythonop_demo.png)

Read the [ROS2 turtlesim Tutorial](https://docs.ros.org/en/jazzy/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html)

if you are unfamiliar with this evironment.

The following Python turtle commands are supported. See the 

[Python Turtle](https://docs.python.org/3/library/turtle.html) page for command

details.

* Movement

        forward(), backward(), right(), left(), goto(), setpos(), teleport(), setx(),

        sety(), setheading(), home(), circle()

* State

        position(), towards(), xcor(), ycor(), heading(), distance(), clear()

* Pen Control

 

         pendown(), penup()

## Installation and Running as ROS2 package

1. Clone this repository into a ROS2 workspace src folder

2. Build workspace with `colcon build` followed by `source install/local_setup.bash`

3. In another terminal launch the turtlesim package as described in the ROS2 Tutorial

        sudo apt install ros-$ROS_DISTRO-turtlesim

        ros2 run turtlesim turtlesim_node

3. Run this package from the workspace with

        ros2 run turtlesim_teleop_python pythonop_turtle

## Parameter

The package provides the following custom parameters:

| Parameter     | Type  |Description                                       | Default |

|---------------|-------|--------------------------------------------------| --------|

| delay         | float | Delay between sending update messages in seconds.|  1.0    |

| scale_angular | float | Scale factor for angular movements.              |  1.0    |

| scale_linear  | float | Scale factor for linear movements.               |  1.0    |

## Interactive Usage

Interactive testing is working by going into 

`turtlesim_teleop_python/turtlesim_teleop_python` folder

and start python3 from there. Then execute the commands below as an example:

```python

import rclpy

from pythonop_turtle import TurtleTwistPublisher

rclpy.init() 

turtle = TurtleTwistPublisher()

turtle.penup()

turtle.clear()

turtle.home()

turtle.pendown()

turtle.left(90)

turtle.forward(5)

turtle.right(160)

turtle.forward(5.5)

turtle.left(160)

turtle.forward(5)

turtle.right(90)

turtle.forward(3)

turtle.backward(1.5)

turtle.right(90)

turtle.forward(5)

turtle.penup()

turtle.goto(2,2)

turtle.pendown()

turtle.circle(1.5)

turtle.destroy_node()

rclpy.shutdown()

```