Turtle Sim

Virtual bot movement control

Features

Makes a polygon with user specified edge count and user specified side length by TurtleSim in ROS Noetic on Ubuntu 20.04.

Installation

Running in Local Mechine

[ Pre-requisite ] :

Run this command to get the required pre-requisite.

sudo apt-get install libavcodec-dev libsdl1.2-dev xsltproc libbullet-dev libsdl1.2-dev libgoogle-glog-dev protobuf-compiler python-wstool

Some reffernences :

[ step 1 (Setting up ROS)] :

Setup your pc to accept software from packages.ros.org

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Setup key and installation

sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full

Envirnment setup for ROS (only the ROS version that you currently want to use must be in the .bashrc file if you have multiple versions installed)

source /opt/ros/noetic/setup.bash

add this line to your .bashrc file to make it globally available or run the command below

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

Dependencies for building packages and setting up Rosdep

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep
sudo rosdep init
rosdep update

to cross checking check for these 2 names in the output (Ros_package_path, Ros_root) of the following command

printenv | grep ROS

[ step 2 (Creating catkin workspace)] :

Create a ROS workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Envirnment setup for catkin workspace remember (only the catkin workspace you are curruntly using has to be sourecd and put into .bashrc)

source ~/catkin_ws/devel/setup.bash

add this line to your .bashrc file to make it globally available or run the command below

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

now cd to your home directory and proceed further

Installing a ROS Tutorial package

sudo apt-get install ros-noetic-ros-tutorials

Creating a Catkin package and building catkin workspace

cd ~/catkin_ws/src
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make

to check your dependencies use rospack

depends1 beginner_tutorials

cd to your home directory and proceed furthur

Building packages

source /opt/ros/kinetic/setup.bash
cd ~/catkin_ws
catkin_make
catkin_make install

now the installation is complete, you can close all terminal.

[ step 3 (Testing your setup and turtle!!!)] :

cd ~/catkin_ws
catkin_make
roscore

in new terminal

rosrun turtlesim turtlesim_node

in another new terminal

rosrun turtlesim turtle_teleop_key

now you can run your turtle with your arrow keys by clicking on the turtsim window.

[ step 4 (Running my project)] :

copy the polynomial file in catkin_wa/src and run the following command

cd ~/catkin_ws
catkin_make
roscore