Abhi-0212000 / Turtle-Carnage

A Perpetual Turtle Chase and Capture Game.

Turtle Carnage Game

Welcome to the Turtle Carnage game repository! 🐢🚀

Overview

In this game, turtles engage in relentless pursuit, chasing, and outwitting each other. The main components include:

1. turtlesim_node: The environment where our turtle characters reside.
2. turtle_spawner: Responsible for spawning new turtles with random positions and orientations.
3. turtle_controller: Manages the movement and behavior of the turtles.

Workflow

Here's how the game unfolds:

1. Spawn New Turtles:

   • The turtle_spawner node generates random positions (x, y) and orientations (θ) for new turtles.
   • It sends a spawn request to the /Spawn service, creating a fresh turtle.

2. Target Setting:

   • The turtle_spawner node also communicates with the /target_pose server.
   • It sets the target turtle's name and position.

3. Control Loop:

   • The turtle_controller node runs a control loop at 0.1Hz.
   • It calculates linear and angular velocities based on the target position.
   • These velocities are published to the /cmd_vel topic.

4. Chase and Capture:

   • The turtle moves toward the target.
   • Once it reaches within a clearance of 0.25 units, it stops moving.

5. Target Elimination:

   • The turtle_controller node sends a kill request to the /kill_turtle server.
   • The target turtle is eliminated.

6. Repeat:

   • The turtle_spawner node receives the client registration.
   • It sends a client request to the /kill service of the turtlesim_node.
   • A new target turtle is spawned, and the cycle continues.

Node-Communications-Map

TurtleCarnage.mp4

Software Requirements

• Ubuntu 22.04
• ROS2 Humble
• Python 3.10

Environment Setup

1. Create a ROS2 workspace:

   mkdir ros2_ws
   cd ros2_ws
   mkdir src
   colcon build
   

2. If colcon is not installed, run:

    sudo apt update
    sudo apt install python3-colcon-common-extensions

3. Add the ROS2 workspace to your ~/.bashrc:

    echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
    source ~/.bashrc
   

Organize Your Folders

Place the following folders inside the src folder:

• turtle_carnage
• my_robot_interfaces
• my_robot_bringup

Build Your Workspace

  cd ros2_ws
  colcon build
  source ~/.bashrc

Launch Your Turtle Carnage App

cd
ros2 launch my_robot_bringup turtle_carnage_app.launch.py

Feel free to explore the code and have fun with the turtles! 🐢🎮