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add hydro changes to use Twist / cmd_vel
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<<Version(ROS hydro)>> As of ''Hydro'' turtlesim uses the [[geometry_msgs]]/Twist message instead of its own custom one (''turtlesim/Velocity'' in ''Groovy'' and older). Also the topic has been changed to `cmd_vel` (instead of `command_velocity` before). |
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0.name= turtleX/command_velocity 0.type= turtlesim/Velocity 0.desc= The linear and angular command velocity for turtleX. The turtle will execute a command_velocity for 1 second then time out. |
0.name= turtleX/cmd_vel 0.type= geometry_msgs/Twist 0.desc= The linear and angular command velocity for turtleX. The turtle will execute a velocity command for 1 second then time out. |
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0.type= turtlesim/Velocity 0.desc= The input topic for the `mimic` node. The topic must be remapped to the command_velocity topic of the desired turtle to mimic. |
0.type= geometry_msgs/Twist 0.desc= The input topic for the `mimic` node. The topic must be remapped to the cmd_vel topic of the desired turtle to mimic. |
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0.type= turtlesim/Velocity 0.desc= The output topic for the `mimic` node. The topic must be remapped to the command_velocity topic of the mimicking turtle. |
0.type= geometry_msgs/Twist 0.desc= The output topic for the `mimic` node. The topic must be remapped to the cmd_vel topic of the mimicking turtle. |
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Package Summary
turtlesim is a tool made for teaching ROS and ROS-PKGS.
- Author: Josh Faust
- License: BSD
- Repository: ros
- Source: svn https://code.ros.org/svn/ros/stacks/ros_tutorials/tags/ros_tutorials-0.2.6
Package Summary
turtlesim is a tool made for teaching ROS and ROS-PKGS.
- Author: Josh Faust
- License: BSD
- Source: git https://github.com/ros/ros_tutorials.git (branch: ros_tutorials-1.6)
Package Summary
turtlesim is a tool made for teaching ROS and ROS-PKGS.
- Author: Josh Faust
- License: BSD
- Source: git https://github.com/ros/ros_tutorials.git (branch: fuerte-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Josh Faust
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: groovy-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Josh Faust
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: hydro-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Josh Faust
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: indigo-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Josh Faust
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: jade-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Mabel Zhang <mabel AT openrobotics DOT org>, Shane Loretz <sloretz AT openrobotics DOT org>
- Author: Josh Faust, Dirk Thomas <dthomas AT osrfoundation DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: kinetic-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Dirk Thomas <dthomas AT osrfoundation DOT org>
- Author: Josh Faust
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: lunar-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Mabel Zhang <mabel AT openrobotics DOT org>, Shane Loretz <sloretz AT openrobotics DOT org>
- Author: Josh Faust, Dirk Thomas <dthomas AT osrfoundation DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: melodic-devel)
Package Summary
turtlesim is a tool made for teaching ROS and ROS packages.
- Maintainer status: maintained
- Maintainer: Mabel Zhang <mabel AT openrobotics DOT org>, Shane Loretz <sloretz AT openrobotics DOT org>
- Author: Josh Faust, Dirk Thomas <dthomas AT osrfoundation DOT org>
- License: BSD
- Bug / feature tracker: https://github.com/ros/ros_tutorials/issues
- Source: git https://github.com/ros/ros_tutorials.git (branch: noetic-devel)
Contents
Getting Started with Turtlesim
Start the roscore:
$ roscore
To compile and start the turtlesim:
$ rosmake turtlesim $ rosrun turtlesim turtlesim_node
You'll see the turtlesim window:
Nodes
New in ROS hydro As of Hydro turtlesim uses the geometry_msgs/Twist message instead of its own custom one (turtlesim/Velocity in Groovy and older). Also the topic has been changed to cmd_vel (instead of command_velocity before).
turtlesim_node
turtlesim_node provides a simple simulator for teaching ROS concepts.Subscribed Topics
turtleX/cmd_vel (geometry_msgs/Twist)- The linear and angular command velocity for turtleX. The turtle will execute a velocity command for 1 second then time out.
Published Topics
turtleX/pose (turtlesim/Pose)- The x, y, theta, linear velocity, and angular velocity of turtleX.
Services
clear (std_srvs/Empty)- Clears the turtlesim background and sets the color to the value of the background parameters.
- Resets the turtlesim to the start configuration and sets the background color to the value of the background.
- Kills a turtle by name.
- Spawns a turtle at (x, y, theta) and returns the name of the turtle. Also will take name for argument but will fail if a duplicate name.
- Sets the pen's color (r g b), width (width), and turns the pen on and off (off).
- Teleports the turtleX to (x, y, theta).
- Teleports the turtleX a linear and angular distance from the turtles current position.
Parameters
~background_b (int, default: 255)- Sets the blue channel of the background color.
- Sets the green channel of the background color.
- Sets the red channel of the background color.
mimic
mimic provides a simple interface for making one turtlesim mimic another.Subscribed Topics
input (geometry_msgs/Twist)- The input topic for the mimic node. The topic must be remapped to the cmd_vel topic of the desired turtle to mimic.
Published Topics
output (geometry_msgs/Twist)- The output topic for the mimic node. The topic must be remapped to the cmd_vel topic of the mimicking turtle.