changes

CMakeLists.txt

@@ -46,7 +46,7 @@ catkin_package(
   INCLUDE_DIRS include
   LIBRARIES ros_essentials_cpp
   CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
-  DEPENDS system_lib
+  # DEPENDS system_lib
 )
 
 ###########

src/assignment/turtlesim_motion_pose.py

@@ -7,79 +7,70 @@
 import time
 from std_srvs.srv import Empty
 
-x=0
-y=0
-z=0
-yaw=0
+x = 0
+y = 0
+z = 0
+yaw = 0
+
 
 def poseCallback(pose_message):
     global x
     global y, z, yaw
-    x= pose_message.x
-    y= pose_message.y
+    x = pose_message.x
+    y = pose_message.y
     yaw = pose_message.theta
 
-    #print "pose callback"
-    #print ('x = {}'.format(pose_message.x)) #new in python 3
-    #print ('y = %f' %pose_message.y) #used in python 2
-    #print ('yaw = {}'.format(pose_message.theta)) #new in python 3
+    # print "pose callback"
+    # print ('x = {}'.format(pose_message.x)) #new in python 3
+    # print ('y = %f' %pose_message.y) #used in python 2
+    # print ('yaw = {}'.format(pose_message.theta)) #new in python 3
 
 
 def move(speed, distance):
-        #declare a Twist message to send velocity commands
+        # declare a Twist message to send velocity commands
             velocity_message = Twist()
-            #get current location 
-            x0=x
-            y0=y
-            #z0=z;
-            #yaw0=yaw;
-            velocity_message.linear.x =speed
+            # get current location
+            x0 = x
+            y0 = y
+            # z0 = z;
+            # yaw0 = yaw;
+            velocity_message.linear.x = speed
             distance_moved = 0.0
-            loop_rate = rospy.Rate(10) # we publish the velocity at 10 Hz (10 times a second)    
-            cmd_vel_topic='/cmd_vel'
+            loop_rate = rospy.Rate(10)  # we publish the velocity at 10 Hz (10 times a second)
+            cmd_vel_topic = '/cmd_vel'
             velocity_publisher = rospy.Publisher(cmd_vel_topic, Twist, queue_size=10)
-
-            while True :
+            while True:
                     rospy.loginfo("Turtlesim moves forwards")
                     velocity_publisher.publish(velocity_message)
-
                     loop_rate.sleep()
-
-                    #rospy.Duration(1.0)
-
-                    distance_moved = distance_moved+abs(0.5 * math.sqrt(((x-x0) ** 2) + ((y-y0) ** 2)))
-                    print  distance_moved               
-                    if  not (distance_moved<distance):
+                    # rospy.Duration(1.0)
+                    distance_moved = distance_moved + abs(0.5 * math.sqrt(((x-x0) ** 2) + ((y-y0) ** 2)))
+                    print(distance_moved)
+                    if not (distance_moved < distance):
                         rospy.loginfo("reached")
                         break
-
-            #finally, stop the robot when the distance is moved
-            velocity_message.linear.x =0
+            # finally, stop the robot when the distance is moved
+            velocity_message.linear.x = 0
             velocity_publisher.publish(velocity_message)
-
-
 
 if __name__ == '__main__':
     try:
-
         rospy.init_node('turtlesim_motion_pose', anonymous=True)
-
-        #declare velocity publisher
-        cmd_vel_topic='/cmd_vel'
+        # declare velocity publisher
+        cmd_vel_topic = '/cmd_vel'
         velocity_publisher = rospy.Publisher(cmd_vel_topic, Twist, queue_size=10)
-        
+
         position_topic = "/turtle1/pose"
-        pose_subscriber = rospy.Subscriber(position_topic, Pose, poseCallback) 
+        pose_subscriber = rospy.Subscriber(position_topic, Pose, poseCallback)
         time.sleep(2)
-        print 'move: '
-        move (1.0, 5.0)
+        print('move: ')
+        move(1.0, 5.0)
         time.sleep(2)
-        print 'start reset: '
+        print('start reset: ')
         rospy.wait_for_service('reset')
         reset_turtle = rospy.ServiceProxy('reset', Empty)
         reset_turtle()
-        print 'end reset: '
+        print('end reset: ')
         rospy.spin()
-
     except rospy.ROSInterruptException:
-        rospy.loginfo("node terminated.")
+        rospy.loginfo("node terminated.")