turtlesim_teleop_python

A ROS2 TurtleSim Python Controller similar to turtle_teleop_key, but using python turtle command scripts for controlling instead of key strokes.

Running this example wiill result in the following output:

Read the ROS2 turtlesim Tutorial if you are unfamiliar with this evironment.

The following Python turtle commands are supported. See the Python Turtle page for command details.

• Movement

    forward(), backward(), right(), left(), goto(), setpos(), teleport(), setx(),
    sety(), setheading(), home(), circle()
  

• State

    position(), towards(), xcor(), ycor(), heading(), distance(), clear()
  

• Pen Control

     pendown(), penup()
  

Installation and Running as ROS2 package

1. Clone this repository into a ROS2 workspace src folder

2. Build workspace with colcon build followed by source install/local_setup.bash

3. In another terminal launch the turtlesim package as described in the ROS2 Tutorial

    sudo apt install ros-$ROS_DISTRO-turtlesim
    ros2 run turtlesim turtlesim_node
   

4. Run this package from the workspace with

    ros2 run turtlesim_teleop_python pythonop_turtle
   

Parameter

The package provides the following custom parameters:

Parameter	Type	Description	Default
delay	float	Delay between sending update messages in seconds.	1.0
scale_angular	float	Scale factor for angular movements.	1.0
scale_linear	float	Scale factor for linear movements.	1.0

Interactive Usage

Interactive testing is working by going into turtlesim_teleop_python/turtlesim_teleop_python folder and start python3 from there. Then execute the commands below as an example:

import rclpy
from pythonop_turtle import TurtleTwistPublisher

rclpy.init() 
turtle = TurtleTwistPublisher()

turtle.penup()
turtle.clear()
turtle.home()
turtle.pendown()
turtle.left(90)
turtle.forward(5)
turtle.right(160)
turtle.forward(5.5)
turtle.left(160)
turtle.forward(5)
turtle.right(90)
turtle.forward(3)
turtle.backward(1.5)
turtle.right(90)
turtle.forward(5)
turtle.penup()
turtle.goto(2,2)
turtle.pendown()
turtle.circle(1.5)

turtle.destroy_node()
rclpy.shutdown()