ROS-exercises1.md

Exercises

Run the turtlesim node:

$ rosrun turtlesim turtlesim_node

If you don't have it, install it:

$ sudo apt-get install ros-indigo-turtlesim

Exercise 1: Publish velocity commands

Create a node that publishes velocity commands to the _turtlesim_node for moving the turtle. Check into which topic you need to publish and how the message should be built. The commands should be taken from the terminal.

Exercise 2: Pose control.

We will create a node responsible for moving the turtle to a specific _x,y pose. The node should follow this behavior:

1. Take the goal pose and a tolerance value from the terminal.
2. Once a goal pose is read, check the current pose to determine the velocity in the _x and _y axis (you can ignore the orientation).
3. Move the turtle until the current pose is within the tolerance value from the goal pose.
4. Stop the turtle and ask for a new pose.