turtle_ctrl_ros2

Simple waypoint controller for the turtlesim package. Tested with Ubuntu 24.04 and ROS2 Kilted.

Build

colcon build --symlink-install

Run

Run directly the node:

ros2 run turtle_ctrl_ros2 turtle_ctrl_ros2_node

Use the launch file to set some gain parameters.

ros2 launch turtle_ctrl_ros2 launchCtrl.py

Publish Goals

You can send the turtle to a specific point by publishing a turtle_ctrl_ros2/msg/Goal message on the topic "/turtle1/goal". From command line:

ros2 topic pub --once /turtle1/goal turtle_ctrl_ros2/msg/Goal "{pos_x: 7.0, pos_y: 7.0}"