uweswrtz / simple_movement

Simple ROS nodes which publishes velocity commands.

simple_movement

Various ROS nodes to move a robot or measure speed/velocity.

WARNING!!!

Ugly code included! I only create quick and dirty code for testing purposes and prototypes. I would prefere if someone else would implement this in a better way.

based on the turtelsim tutorials from wiki.ros.org: http://wiki.ros.org/turtlesim/Tutorials#Practicing_Python_with_Turtlesim

nodes

range2speed2.py

range2speed2 uses range sensor (messages) to calculate speed/velocity.

• When the robot is moving to a target (e.g a wall) the measuring begins a soon as the target is within the range of the range sensor (currently 1.2m).
• The robot and the measuring stops when range is below 0.15m

RUN

rosrun simple_movement range2speed2.py

range.py

robot moves forward and turns when reaching an obstactle (range below 0.20cm).

RUN

rosrun simple_movement range.py