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FRA501_exam1_6461

The draw_fibo package is a tool that, when invoked, spawns four turtles to draw the word "FIBO" by leaving a trail of pizza on the turtlesim_plus GUI. Each turtle has a specific name and role in the drawing process:

  • Foxy draw F
  • Noetic draw I
  • Humble draw B
  • Iron draw O

Table of contents

Installation

1.) open terminal and enter this command in yor terminal

git clone https://github.com/Fzil0n/FRA501_exam1_6461.git

2.) go to FRA501_61_WS/src and enter this command

git clone https://github.com/tchoopojcharoen/turtlesim_plus.git

System Architecture

image

Packages list

  • turtlesim_plus_planning : This is a package for generating paths for each turtle to follow based on the desired characters. It includes a node "tao_planning" that creates paths according to the specified namespace and stores them in via_point_xx.yaml files, which are received from ROS parameters.
  • turtlesim_plus_scheduler : This is a package for managing the movement schedule of the turtles. It informs each turtle about the next point it should move to. The package includes a node "tao_scheduler" that requests this information through the ROS service "go2Target". Additionally, it plays a role in sending requests for pizza spawning. Inside the package, there are ROS arguments that receive file paths for via_point_xx.yaml files located in the share directory.
  • turtlesim_plus_controller : This is a package for controlling the movement of turtles to specific points using a P controller. Inside, there is a node "tao_controller" that declares ROS parameters, namely kp_linear, kp_angular, and tolerance. When the turtle reaches its destination, it sends a request through the ROS service "arriveFlag" to inform the tao_scheduler that it has reached the target point.
  • my_interface : This is a package for store interfaces that used in this project such as SetTarget.
  • draw_fibo : This is a main package in this package contain launch file, parameters.yaml and via_points.yaml, in the launch folder have 3 sub launch files:
    • spawn_4turtles.launch.py for spwan 4 tuetles and set their namespace.
    • PCS.launch.py for creat Node tao_controller and tao_scheduler,set node's namespace.
    • draw.launch.py for launch 2 file above.

Test and Run

1.)Source your ROS2 and workspace

2.)go to FRA501_61_WS and enter this commands to launch

colcon build

ros2 launch draw_fibo draw.launch.py

or you can run it separately

ros2 launch draw_fibo spawn_4turtles.launch.py

ros2 launch draw_fibo PCS.launch.py