HW1_6531_6562

Architecture

taohunza package : This package have 2 main package name teleop_twist_keyboard and turtlesim_plus.

The teleop_twist_keyboard package use for recieve input from you keyboard.

The turtlesim_plus package use for interface and spawn turtle.

This package have 4 Node :

    copy_turtle_node : This node for control copy turtle.

    pizza_memory_node : This node for collect position data of pizza from turtle. 

    turtle_teleop_node : This node for control turtle.

    Melodic_turtle_node : This node for control Melodic turtle.

1. Install Environment

1. Install Ubuntu 22.04

   https://ubuntu.com/download/desktop

2. Install ROS2 (Humble)

   https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

2. Install Package

1. Clone taohunza2 package

   git clone https://github.com/Aitthikit/HW1_6531_6562.git

3. Setup Environment

1. Navigate to the project directory

    cd HW1_6531_6562

2. Remove Build install and log Before build:

   rm -rf build/ install/ log/

3. Install pynput :

   pip install pynput

4. Build :

   colon build

5. Source workspace :

   source install/setup.bash 
   

4. Run

1. Run launch file :

   ros2 launch taohunza2 turtle_launch.py 

2. Run teleop_key :

   ros2 run taohunza2 teleop_key.py

3. Run rqt :

   rqt

How to Fix when Bug

1. If it cannot run node or launch file:

   1.1. Restart your terminal

   2.2. Rebuild & source

   colon build
   source install/setup.bash

2. Turtle can't eat pizza :

   1.1. Tune gain (Recomend kp : 1 , kp_angular : 10)

3. Something else :

   2.1. Kill all node

   2.2. Restart your computer

   2.3. Ask chatGPT and let's fix it 2.4.