Siddarth Velan[2025A7PS2011H]

src/task1/temp

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+

src/task2/circle_drawer.py

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+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+import time
+
+class CircleDrawer(Node):
+    def __init__(self):
+        super().__init__('circle_drawer')
+
+
+        self.publisher_ = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+
+
+        self.subscriber_ = self.create_subscription(Pose, '/turtle1/pose', self.pose_callback, 10)
+
+        self.pose = None  
+        self.radius = 2.0
+        self.num_points = 36  
+        self.points = self.generate_points()
+        self.point_index = 0
+
+
+        time.sleep(1.0)  
+        self.timer = self.create_timer(0.1, self.timer_callback)
+
+    def pose_callback(self, msg):
+        self.pose = msg
+
+    def generate_points(self):
+        points = []
+        for i in range(self.num_points):
+            theta = 2 * math.pi * i / self.num_points
+            x = self.radius * math.cos(theta) + 5.5 
+            import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+import time
+
+class CircleDrawer(Node):
+    def __init__(self):
+        super().__init__('circle_drawer')
+
+
+        self.publisher_ = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+
+
+        self.subscriber_ = self.create_subscription(Pose, '/turtle1/pose', self.pose_callback, 10)
+
+        self.pose = None  
+        self.radius = 2.0
+        self.num_points = 36  
+        self.points = self.generate_points()
+        self.point_index = 0
+
+
+        time.sleep(1.0)  
+        self.timer = self.create_timer(0.1, self.timer_callback)
+
+    def pose_callback(self, msg):
+        self.pose = msg
+
+    def generate_points(self):
+        points = []
+        for i in range(self.num_points):
+            theta = 2 * math.pi * i / self.num_points
+            x = self.radius * math.cos(theta) + 5.5
+            y = self.radius * math.sin(theta) + 5.5
+            import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+import time
+
+class CircleDrawer(Node):
+    def __init__(self):
+        super().__init__('circle_drawer')
+
+
+        self.publisher_ = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+
+
+        self.subscriber_ = self.create_subscription(Pose, '/turtle1/pose', self.pose_callback, 10)
+
+        self.pose = None  
+        self.radius = 2.0
+        self.num_points = 36  
+        self.points = self.generate_points()
+        self.point_index = 0
+
+
+        time.sleep(1.0)  
+        self.timer = self.create_timer(0.1, self.timer_callback)
+
+    def pose_callback(self, msg):
+        self.pose = msg
+
+    def generate_points(self):
+        points = []
+        for i in range(self.num_points):
+            theta = 2 * math.pi * i / self.num_points
+            x = self.radius * math.cos(theta) + 5.5   
+            points.append((x, y))
+        return points
+
+    def timer_callback(self):
+        if self.pose is None:
+            return
+
+
+        goal_x, goal_y = self.points[self.point_index]
+
+
+        dx = goal_x - self.pose.x
+        dy = goal_y - self.pose.y
+        distance = math.sqrt(dx**2 + dy**2)
+        angle_to_goal = math.atan2(dy, dx)
+        angle_error = angle_to_goal - self.pose.theta
+
+
+        angle_error = math.atan2(math.sin(angle_error), math.cos(angle_error))
+
+        msg = Twist()
+
+        if distance > 0.1: 
+            msg.linear.x = 1.5 * distance
+            msg.angular.z = 4.0 * angle_error
+        else: 
+            self.point_index = (self.point_index + 1) % self.num_points
+
+        self.publisher_.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CircleDrawer()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+            points.append((x, y))
+        return points
+
+    def timer_callback(self):
+        if self.pose is None:
+            return
+
+
+        goal_x, goal_y = self.points[self.point_index]
+
+
+        dx = goal_x - self.pose.x
+        dy = goal_y - self.pose.y
+        distance = math.sqrt(dx**2 + dy**2)
+        angle_to_goal = math.atan2(dy, dx)
+        angle_error = angle_to_goal - self.pose.theta
+
+
+        angle_error = math.atan2(math.sin(angle_error), math.cos(angle_error))
+
+        msg = Twist()
+
+        if distance > 0.1: 
+            msg.linear.x = 1.5 * distance
+            msg.angular.z = 4.0 * angle_error
+        else: 
+            self.point_index = (self.point_index + 1) % self.num_points
+
+        self.publisher_.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CircleDrawer()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+            points.append((x, y))
+        return points
+
+    def timer_callback(self):
+        if self.pose is None:
+            return
+
+
+        goal_x, goal_y = self.points[self.point_index]
+
+
+        dx = goal_x - self.pose.x
+        dy = goal_y - self.pose.y
+        distance = math.sqrt(dx**2 + dy**2)
+        angle_to_goal = math.atan2(dy, dx)
+        angle_error = angle_to_goal - self.pose.theta
+
+
+        angle_error = math.atan2(math.sin(angle_error), math.cos(angle_error))
+
+        msg = Twist()
+
+        if distance > 0.1: 
+            msg.linear.x = 1.5 * distance
+            msg.angular.z = 4.0 * angle_error
+        else: 
+            self.point_index = (self.point_index + 1) % self.num_points
+
+        self.publisher_.publish(msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CircleDrawer()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+
+    main()

src/task2/temp

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+