Small Turtle controller in C++ for turtlesim ROS package. This package currently works for ROS Kinetic only. If you are interested in learning more about this and many more projects, check out my website! You can also find an example video of this project and some deeper explanations there. You can also find the link to this project directly here
For building, use your terminal and type following commands:
- Go to your catkin repository:
cd ~/PATH_TO_YOUR_CATKIN_FOLDER/
- Build the package:
catkin build turtle_controller --cmake-args -GEclipse CDT4 - Unix Makefiles -D__GXX_EXPERIMENTAL_CXX0X__=1 -D__cplusplus=201103L
Implemented are two slightly different controller.
- You can start either one in your terminal with the launch file and arguments:
roslaunch turtle_controller turtle.launch controller:="1"
- For the PID controller use:
roslaunch turtle_controller turtle.launch controller:="2"
By default, Controller one is selected.
- For giving a Goal, open a new Terminal. You can use the Service Server from the interface node, e.g. for traveling to (x,y) = (1,1):
rosservice call /interface/set_goal "x: 1.0 y: 1.0"