Knowing where the robot is (localization) is one of the classic robotic challenges, especially in indoor environments where GPS isn’t reliable or accurate enough. If you ask a robot to move forward 1 meter it will go roughly a meter and not perfectly straight. If you ask a computer to do 1 + 1 you’ll always receive 2. This is where robots and computers act very differently. TurtleBot starts drawing squares on the floor but you’ll see that it quickly starts to drift away from its starting path.
In a terminal window run: cd ~/helloworld Now let’s try another script which is designed for TurtleBot to draw squares. NOTE: TurtleBot only uses linear.x and angular.z values because it works in a planar (2D) world, but for drones, marine robots and other robots that occupy 3D environments, linear.y, angular.x and angular.y values are available.
In a new terminal window run: python goincircles.py Modify linear.x = 0.2 to 0 and angular.z = 0 to 0.5. In a terminal window run: cd ~/helloworld/ To fully understand the publisher, etc., we’ve linked to some great books.įor fun let’s modify the command so TurleBot goes in circles.
Uopilot scripts code#
From here the documentation in the code is pretty straightforward but not designed to be all-inclusive. The code above simply means “when we start this script try running GoForward’s init (initialize) function”. NOTE: If you haven’t looked at Python code before, Learning Python by Mark Lutz is a good resource. If you scroll all the way to the bottom you’ll see: if _name_ = '_main_' : try : GoForward () You can also view it on GitHub if you prefer.
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