In ROS TURTLESIM, While moving the turtle in circle using the linear velocity and angular velocity , how do i track the distance so as to stop the turtle moving after one revolution ??
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$\begingroup$ If this worked can u provide me with the script please? $\endgroup$Phantom Boy– Phantom Boy2020-10-17 15:35:17 +00:00Commented Oct 17, 2020 at 15:35
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2 Answers
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write a distance function with the maximum value being the circumference, use rospy's Time function to update distance and whenever the current_distance exceeds the circumference, publish a zero velocity msg to stop the turtle.
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$\begingroup$ How do i use rospy's time to get the distance?? Rospy's time will only give the current time right? I am new to ROS, so please help me! And how do i use "/turtle1/pose" to get the distance and stop the turtle. $\endgroup$Anonymous– Anonymous2020-10-14 17:25:22 +00:00Commented Oct 14, 2020 at 17:25
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$\begingroup$ @Anonymous - Numerically integrate your speed. $\endgroup$2020-10-14 17:45:37 +00:00Commented Oct 14, 2020 at 17:45
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$\begingroup$ take initial time as t0 and present time as t1, speed = v, then your distance is v*(t1-t0) $\endgroup$Sankeerth– Sankeerth2020-10-15 06:19:55 +00:00Commented Oct 15, 2020 at 6:19
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$\begingroup$ Got this! And what about the maximum value being the circumference? $\endgroup$Anonymous– Anonymous2020-10-15 12:14:22 +00:00Commented Oct 15, 2020 at 12:14
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$\begingroup$ the maximum value of your distance should be circumference for your turtle to stop after 1 circle. $\endgroup$Sankeerth– Sankeerth2020-10-16 06:16:50 +00:00Commented Oct 16, 2020 at 6:16
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$ rosmsg show turtlesim/Pose
Get the pose. How are you wanting to know if it did a complete revolution? You could check that the path length is equal to the circumference, or that the rotation angle is back to the start angle, or the horizontal x/y position is the same as the starting position.
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$\begingroup$ Like i want to stop the turtle after one revolution. How do i stop the turtle at its position which is moving in a circle? $\endgroup$Anonymous– Anonymous2020-10-13 18:42:21 +00:00Commented Oct 13, 2020 at 18:42
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$\begingroup$ @Anonymous - I don't understand the question. Your original question was how to track the distance, but now you seem to be asking how to stop the turtle. $\endgroup$2020-10-14 13:01:33 +00:00Commented Oct 14, 2020 at 13:01
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$\begingroup$ I have to stop the turtle by tracking the distance. $\endgroup$Anonymous– Anonymous2020-10-14 15:06:15 +00:00Commented Oct 14, 2020 at 15:06