TurtleSim ROS2 Operations

This project implements a TurtleSim navigation system using ROS2 and PID controllers for smooth waypoint tracking.

Setup Instructions

Step 1: Create a ROS2 Workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Step 2: Clone the Repository

git clone <repository-url>

If there are any issues for cloning the repository, you can download the zip file and extract the contents into the src folder.

Step 3: Navigate Back to Workspace Root

cd ~/ros2_ws

Step 4: Build the Package

colcon build

Clean Build if Facing Issues

If there are any issues while building, clean and rebuild:

sudo rm -rf log install build
colcon build

Running Instructions for Goal:1

1. Launching the Turtlesim

ros2 run turtlesim turtlesim_node

2. Launching the Turtle Controller

Open another terminal to launch the node

source install/setup.bash
ros2 run task_1 task_1

3. Setting Waypoints

Run the node and follow the instructions to enter waypoints for the turtle to follow.

Running Instructions for Goal:2

1. Launching the Turtlesim

ros2 run turtlesim turtlesim_node

2. Launch the grid controller

Open a new Terminal and run the following commands

source install/setup.bash
ros2 run task_2 task_2

You should see the turtle navigating through a certain set of predefined waypoints to make a grid like pattern like this.

Running Instructions for Goal:3

1. Launching the Turtlesim

ros2 run turtlesim turtlesim_node

2. Launch the node for Goal:3

Open a new Terminal and run the following commands.

source install/setup.bash
ros2 run task_3 task_3

3. Launch the node for Goal:3

Open a new Terminal and run the following commands for launching a node that will allow you to give custom radius for the circle.

source install/setup.bash
ros2 run task_3 custom_radius_publisher

You can now change the radius of the controller using this node like this.

Launching the node task_3 will also start Publishing real pose of turtle as well as the noisy pose of the turtle every 5 sec on /rt_real_pose and /rt_noisy_pose you can check these pose by running following commands

ros2 topic echo /rt_real_pose # For real pose
ros2 topic echo /rt_noisy_pose # For noisy pose

Circle with custom radius:

Data published on /rt_real_pose and /rt_noisy_pose:

Running Instructions for Goal:4

1. Launching the Turtlesim

ros2 run turtlesim turtlesim_node

2. Launch the node for Goal:3

Open a new Terminal and run the following commands.

source install/setup.bash
ros2 run task_3 task_3

3. Launch the node for Goal:3

Open a new Terminal and run the following commands for launching a node that will allow you to give custom radius for the circle.

source install/setup.bash
ros2 run task_3 custom_radius_publisher

Make sure that the radius of the circle is greater than 35 units which will allow the Robber Turtle to gain some distance.

4. Launch the node for Goal:4

Open a new Terminal and run the following commands for launching a node that will chase the Robber Turtle(RT) from Goal:3.

source install/setup.bash
ros2 run task_4 police_turtle

The Police Turtle(PT) will start chasing RT on the basis of pose published every 5 secs on /rt_real_pose after 10 secs.

Running Instructions for Goal:5

1. Launching the Turtlesim

ros2 run turtlesim turtlesim_node

2. Launch the node for Goal:3

Open a new Terminal and run the following commands.

source install/setup.bash
ros2 run task_3 task_3

3. Launch the node for Goal:3

Open a new Terminal and run the following commands for launching a node that will allow you to give custom radius for the circle.

source install/setup.bash
ros2 run task_3 custom_radius_publisher

Make sure that the radius of the circle is greater than 35 units which will allow the Robber Turtle to gain some distance.

4. Launch the node for Goal:5

Open a new Terminal and run the following commands for launching a node that will chase the Robber Turtle(RT) from Goal:3.

source install/setup.bash
ros2 run task_5 task_5

The Nerfed Police Turtle(PT), with half of the speed of RT will start chasing RT after 10 secs.

Running Instructions for Goal:6

1. Launching the Turtlesim

ros2 run turtlesim turtlesim_node

2. Launch the node for Goal:3

Open a new Terminal and run the following commands.

source install/setup.bash
ros2 run task_3 task_3

3. Launch the node for Goal:3

Open a new Terminal and run the following commands for launching a node that will allow you to give custom radius for the circle.

source install/setup.bash
ros2 run task_3 custom_radius_publisher

Make sure that the radius of the circle is greater than 35 units which will allow the Robber Turtle to gain some distance.

4. Launch the node for Goal:6

Open a new Terminal and run the following commands for launching a node that will chase the Robber Turtle(RT) from Goal:3.

source install/setup.bash
ros2 run task_6 task_6

The Police Turtle(PT), will start chasing RT on basis of the gausian noise pose published every 5 secs on /rt_noisy_pose after 10 secs.

Notes

• Ensure ROS2 is properly sourced before running any commands.
• Modify PID gains in the script for different performance tuning.