spragunr / skibot

Turtlesim-style ROS simulator with simple 2d physics

Skibot

A turtlesim style ROS simulator with simple physics.

see instead: https://github.com/JMU-ROBOTICS-VIVA/skibot

Nodes

skibot_node

Subscribed Topics

• thrust (geometry_msgs/Wrench)

  Force applied to the Skibot. The skibot will execute the command for .6 seconds before timing out. Only force.x and torque.z are used. All other fields will be ignored. Linear force is clipped to (-5.0, 5.0) and torque is clipped to (-.2, .2).

• target_pose (skibot/Pose)

  The pose will be drawn to the screen as a green arrow. May be used to visualize a goal pose.

• target_point (geometry_msgs/Point)

  The point will be drawn to the screen as a green circle. May be used to visualize a goal point.

Published Topics

• pose (skibot/Pose)

  Current robot pose.

Services

• teleport (skibot/Teleport)

  Teleport to the indicated location and set velocity to zero.