Systems Engineering for Robotics

PDE3413
Turtlesim Tasks

Objective:
Your job is to write a simple python publish & subscribe script that will receive information
coming from the turtlesim, and publish information back to the turtlesim with the goal of
controlling the turtle

Pre-Requirements:
http://wiki.ros.org/turtlesim/Tutorials/Moving%20in%20a%20Straight%20Line
http://wiki.ros.org/turtlesim/Tutorials/Rotating%20Left%20and%20Right
http://wiki.ros.org/turtlesim/Tutorials/Go%20to%20Goal

Task:
First work your way through the pre-requirement tutorials.
Do NOT just copy and paste the code, but experiment with it and try to build your
knowledge on this area.

As two extension tasks:

1) program the turtle to drive in a square

2) program the turtle to drive in a figure of 8

There are multiple ways of achieving these tasks,

A simple solution is to publish a direction for a duration of time.
EG: publish going forward for 1s, then turning for 1s etc….
This will work well in simulation, but will pose an issue with physical robots.

A more complex, but more desirable solution is to set goals, and to compare the current
pose position with the desired pose position.

Calum Knott
V1.0 – 2/11/17 c.knott@mdx.ac.uk