Catch Them All

catch_them_all_ROS2_DEMO.mp4

Overview

The catch_them_all a small turtlesim for beginners to learn ROS2 basic functionalities. The Catcher node controls a turtle to move towards dynamically spawned target turtles and "catch" them by deleting their respective instances.

Prerequisites

Before you begin, ensure you have met the following requirements:

• ROS 2: This package is compatible with Humble.
• Colcon: Make sure you have colcon installed for building the packages.

Installation

Follow these steps to install the catch_them_all and catch_them_all_bringup packages:

1. Clone this repository:

   git clone https://github.com/haris-mujeeb/Catch-Them-All-ROS2.git

2. Build the workspace:

   cd ~/ros2_ws
   colcon build

3. Source the workspace:

   source ~/ros2_ws/install/setup.bash

Usage

1. Launch using the provided launch file:

   ros2 launch catch_them_all_bringup catcher_app.launch.py

   This launch file will:

   • Start the Turtlesim simulation.
   • Spawn a catcher turtle and additional random turtles.
   • Launch the Catcher node to control the turtle. Note: To execute python code, use turtlesim_catch_them_all_py.launch.py instead of catcher_app.launch.py

2. Manual commands: Alternatively, you can run the nodes manually:

   ros2 run turtlesim turtlesim_node
   ros2 run catcher_them_all spawner
   ros2 run catcher_them_all catcher

   Note: Use turtle_spawner and turtle_controller for python code

Configuration

The Catcher node can be customized with the following:

• Default Turtle Name: The node tracks and controls a specific turtle (turtle1 by default).
• Timers: Control timers for movement and spawning can be adjusted in the code.

Node Interface

Published Topics

• /turtle1/cmd_vel (geometry_msgs/msg/Twist): Publishes velocity commands to control the turtle.
• /alive_turtles (my_robot_interfaces/msg/TurtleArray): Publishes an array with alive turtles with their object attributes (namely, x, y, theta).

Subscribed Topics

• /turtle1/pose (turtlesim/msg/Pose): Subscribes to the turtle's position.

Services

• spawn_random_turtle (turtlesim/srv/Spawn): Spawns turtles at random positions.
• kill (turtlesim/srv/Kill): Kills a target turtle after it is caught.

Contributing

Contributions are welcome! Feel free to open issues or submit pull requests.

License

This project is licensed under the MIT License. See the LICENSE file for details.