## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(turtle_actionlib)>>
<<TOC(4)>>

== Overview ==
This tutorial package provides a `shape_server` and example `shape_client` for drawing regular polygons with the `turtlesim_node`. The default client will draw a pentagon in `turtlesim`. 

The `Shape.action` is defined below: 
 {{{
#goal definition
int32 edges
float32 radius
---
#result definition
float32 interior_angle
float32 apothem
---
#feedback

}}} 

== Running the Tutorial Code ==
To run the default example, start by getting the required dependencies and making the package. 

{{{
$ rosdep install turtle_actionlib
$ rosmake turtle_actionlib 
}}}

Then in separate terminals `rosrun` the following nodes:
{{{
$ rosrun turtlesim turtlesim_node
$ rosrun turtle_actionlib shape_server
$ rosrun turtle_actionlib shape_client
}}}

You will see:

 {{attachment:turtle_shape.png}}





## AUTOGENERATED DON'T DELETE
## CategoryPackage
## CategoryPackageROSPKG