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"turtlesim_plus" is a tool similar to "turtlesim" with some added features like /spawn_pizza and /eat services..

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tchoopojcharoen/turtlesim_plus

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turtlesim_plus

"turtlesim_plus" is a tool similar to "turtlesim" with some added features such as /spawn_pizza and /eat services..

Installation

1.) Clone the repo to the src directory of your workspace. You must unzip and put each folder in the src directory. 2.) Add "dependencies_install.bash" to your workspace [outside of the src directory]. Execute the script to install all necessary Python libraries and ROS2 Packages.

source [your_workspace]/dependencies_install.bash

3.) Build "turtlesim_plus" and "turtlesim_plus_interfaces" in your workspace.

cd ~/[your_workspace]
colcon build --packages-select turtlesim_plus turtlesim_plus_interfaces
source install/setup.bash

Using turtlesim_plus

1.) Run turtlesim_plus_node

ros2 run turtlesim_plus turtlesim_plus_node

2.) Move the turtle

ros2 run turtlesim turtle_teleop_key

3.) Spawn a pizza (or more !!) by using "pizza_on_click.py" and click on the GUI.

ros2 run turtlesim_plus pizza_on_click.py

4.) Echo the scan data

ros2 topic echo /turtle1/scan

5.) Move the robot so that the greeen region overlap with the spawn pizza and check the scan 6.) Call /eat service to eat the pizza

ros2 service call /turtle1/eat std_srvs/srv/Empty

7.) You can see the pizza count of 'turtle1'

ros2 topic echo /turtle1/pizza_count

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"turtlesim_plus" is a tool similar to "turtlesim" with some added features like /spawn_pizza and /eat services..

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