09/17/18 1 Turtlesim Cheat Sheet pages (PG) in book ROS Robotics By Example 2nd, Fairchild and Harman
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1 09/17/18 1 Turtlesim Cheat Sheet pages (PG) in book ROS Robotics By Example 2nd, Fairchild and Harman $ cd catkin_ws 1. $ roscore (PG 19 leave running but minimize) 2. 2 nd Terminal 3. $ rosrun turtlesim turtlesim_node PG (See the turtle with Blue Background leave terminal window running and view turtle) 4. 3rd Terminal $ rosnode info turtlesim (Determine node information) PG tlharmanphd@d :~$ rosnode info turtlesim Node [/turtlesim] Publications: * /turtle1/color_sensor [turtlesim/color] * /rosout [rosgraph_msgs/log] * /turtle1/pose [turtlesim/pose] Subscriptions: * /turtle1/cmd_vel [unknown type] Services: * /turtle1/teleport_absolute * /turtlesim/get_loggers * /turtlesim/set_logger_level * /reset * /spawn * /clear * /turtle1/set_pen * /turtle1/teleport_relative * /kill contacting node Pid: 7420 Connections: * topic: /rosout * to: /rosout * direction: outbound * transport: TCPROS NOW YOU HAVE THE INFORMATION TO CONTROL TURTLESIM!
2 2. OTHER INFORMATION PG rostopic list rostopic type rosmsg list grep turtlesim rosmsg show turtlesim/color (See Table PG 26) Look at Colors $ rostopic echo /turtle1/color_sensor (r: b: g: Cntl+C to stop) $rosparam help PG 28 $rosparam list PG 29 rosparam get parameters and change color of background to Red tlharmanphd@d :~$ rosparam get / PG 29 background_b: 255 background_g: 86 background_r: 69 rosdistro: 'indigo roslaunch: uris: {host_d125_ : ' rosversion: ' run_id: 2429b792-d23c-11e4-b9ee-3417ebbca982 rosparam set Change the colors: tlharmanphd@d :/$ rosparam set background_b 0 tlharmanphd@d :/$ rosparam set background_g 0 tlharmanphd@d :/$ rosparam set background_r 255 tlharmanphd@d :/$ rosservice call /clear (See Red!) Check Turtle1's pose PG $ rostopic type /turtle1/pose (turtlesim/pose Note capital P) $ rosmsg show turtlesim/pose (Show the formats floating point 32 bits) $ rostopic echo /turtle1/pose -n1 x: 1.0 y: 1.0 theta: 0.0 linear_velocity: 0.0 angular_velocity: 0.0 Services Absolute and Relative Move PG 31 $ rosservice call /turtle1/teleport_absolute (Move to 1,1) $ rosservice call /turtle1/teleport_relative
3 3. LETS CONTROL THE TURTLE- Publish to /turtle1/cmd_vel: ( roscore and turtlesim_node running) 1. Command line 2. Keyboard 3. Joystick 4. Python Subscriptions: /turtle1/cmd_vel [unknown type] $ rostopic type /turtle1/cmd_vel geometry_msgs/twist 1a. Move a bit 1 command $ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]' 1b. Move in a circle repeat at frequency $ rostopic hz /turtle1/pose $ rostopic pub /turtle1/cmd_vel geometry_msgs/twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]' 2. $ rosrun turtlesim turtle_teleop_key (Cntl+c to exit) Reading from keyboard Use arrow keys to move the turtle. Up arrow Down arrow Right arrow Left arrow Turtle up Turtle down Rotate CW Rotate CCW $ rqt_graph (See the namespaces, nodes and topics) 3. Joystick
4 cd catkin_ws/turtlesim_py/ ls -la total 64 drwxrwxr-x 2 harman harman 4096 Sep 17 11:07. drwxrwxr-x 7 harman harman 4096 Sep 17 11:05.. -rw-rw-r-- 1 harman harman 2493 Jan gotogoal1.py -rwxr-xr-x 1 harman harman 2409 Jan gotogoal.py -rw-rw-r-- 1 harman harman Jan poseturtlesimwithrounding_doc.odt -rwxrwxr-x 1 harman harman 1251 Jan poseturtlesimwithrounding.py -rw-rw-r-- 1 harman harman Jan PythonTurtlesimFiles1_25_2018.odt -rwxrwxr-x 1 harman harman 1861 Sep turtlesim1.py -rw-rw-r-- 1 harman harman 2059 Jan turtlesim2.py MAKE TURTLESIM2.PY EXECUTABLE harman@d :~/catkin_ws/turtlesim_py$ chmod +x turtlesim2.py -rwxrwxr-x 1 harman harman 2059 Jan turtlesim2.py 4. Python Creates node /ControlTurtlesim ; Publishes t0 /turtle1/cmd_vel with Twist msg Move turtle1 forward 0.3 m/s $ python turtlesim1.py [INFO] [WallTime: ] Press CTRL+c to stop TurtleBot [INFO] [WallTime: ] Set rate 10Hz #!/usr/bin/env python turtlesim1.py # Execute as a python script # Set linear and angular values of Turtlesim's speed and turning. import rospy # Needed to create a ROS node from geometry_msgs.msg import Twist # Message that moves base class ControlTurtlesim(): def init (self): # ControlTurtlesim is the name of the node sent to the master rospy.init_node('controlturtlesim', anonymous=false) # Message to screen rospy.loginfo(" Press CTRL+c to stop TurtleBot") # Keys CNTL + c will stop script rospy.on_shutdown(self.shutdown) # Publisher will send Twist message on topic # /turtle1/cmd_vel self.cmd_vel = rospy.publisher('/turtle1/cmd_vel', Twist, queue_size=10) # Turtlesim will receive the message 10 times per second. rate = rospy.rate(10); # 10 Hz is fine as long as the processing does not exceed # 1/10 second. rospy.loginfo(" Set rate 10Hz") # Twist is geometry_msgs for linear and angular velocity move_cmd = Twist() # Linear speed in x in meters/second is + (forward) or # - (backwards) move_cmd.linear.x = 0.3 # Modify this value to change speed # Turn at 0 radians/s
5 move_cmd.angular.z = 0 # Modify this value to cause rotation rad/s # Loop and TurtleBot will move until you type CNTL+c while not rospy.is_shutdown(): # publish Twist values to the Turtlesim node /cmd_vel self.cmd_vel.publish(move_cmd) # wait for 0.1 seconds (10 HZ) and publish again rate.sleep() def shutdown(self): # You can stop turtlesim by publishing an empty Twist message rospy.loginfo("stopping Turtlesim") self.cmd_vel.publish(twist()) # Give TurtleBot time to stop rospy.sleep(1) if name == ' main ': try: ControlTurtlesim() except: rospy.loginfo("end of the trip for Turtlesim") 4A. $ rosnode list /ControlTurtlesim /rosout /teleop_turtle /turtlesim 5. Go in a Circle $ python turtlesim2.py harman@d :~/catkin_ws/turtlesim_py$ python poseturtlesimwithrounding.py [INFO] [ ]: self.pose.x: 6.035, self.pose.y: [INFO] [ ]: self.pose.x: 6.035, self.pose.y: [INFO] [ ]: self.pose.x: 6.035, self.pose.y: Go to a goal set by entering x and y coordinates $ python gotogoal.py harman@d :~/catkin_ws/turtlesim_py$ python gotogoal.py
6 python gotogoal.py Set your x goal:1 Set your y goal:2 Set your tolerance:.02 harman@d :~/catkin_ws/turtlesim_py$ python poseturtlesimwithrounding.py [INFO] [ ]: self.pose.x: , self.pose.y: [INFO] [ ]: self.pose.x: , self.pose.y: #!/usr/bin/env python gotogoal.py turtlesim_cleaner/src/gotogoal.py GitHub import rospy from geometry_msgs.msg import Twist from turtlesim.msg import Pose from math import pow,atan2,sqrt class turtlebot(): def init (self): #Creating our node,publisher and subscriber rospy.init_node('turtlebot_controller', anonymous=true) self.velocity_publisher = rospy.publisher('/turtle1/cmd_vel', Twist, queue_size=10) self.pose_subscriber = rospy.subscriber('/turtle1/pose', Pose, self.callback) self.pose = Pose() self.rate = rospy.rate(10) #Callback function implementing the pose value received def callback(self, data): self.pose = data self.pose.x = round(self.pose.x, 4) self.pose.y = round(self.pose.y, 4) def get_distance(self, goal_x, goal_y): distance = sqrt(pow((goal_x - self.pose.x), 2) + pow((goal_y - self.pose.y), 2)) return distance def move2goal(self): goal_pose = Pose() goal_pose.x = input("set your x goal:") goal_pose.y = input("set your y goal:") distance_tolerance = input("set your tolerance:") vel_msg = Twist()
7 while sqrt(pow((goal_pose.x - self.pose.x), 2) + pow((goal_pose.y - self.pose.y), 2)) >= distance_tolerance: #Porportional Controller #linear velocity in the x-axis: vel_msg.linear.x = 1.5 * sqrt(pow((goal_pose.x - self.pose.x), 2) + pow((goal_pose.y - self.pose.y), 2)) vel_msg.linear.y = 0 vel_msg.linear.z = 0 #angular velocity in the z-axis: vel_msg.angular.x = 0 vel_msg.angular.y = 0 vel_msg.angular.z = 4 * (atan2(goal_pose.y - self.pose.y, goal_pose.x - self.pose.x) - self.pose.theta) #Publishing our vel_msg self.velocity_publisher.publish(vel_msg) self.rate.sleep() #Stopping our robot after the movement is over vel_msg.linear.x = 0 vel_msg.angular.z =0 self.velocity_publisher.publish(vel_msg) rospy.spin() if name == ' main ': try: #Testing our function x = turtlebot() x.move2goal() except rospy.rosinterruptexception: pass #RESULT: # harman@d :~/desktop$ python gotogoal.py # Set your x goal:1.0 # Set your y goal:1.0 # Set your tolerance:0.5
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