From 2356dba95e196ca40974b7f20813eb094786108e Mon Sep 17 00:00:00 2001
From: vkolesnikov <vadimkolesnikov2006@gmail.com>
Date: Sat, 26 Oct 2024 22:43:07 +0300
Subject: [PATCH 1/3] Added turtle p_controller script

---
 lesson_05/turtle_P.py | 58 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 58 insertions(+)
 create mode 100644 lesson_05/turtle_P.py

diff --git a/lesson_05/turtle_P.py b/lesson_05/turtle_P.py
new file mode 100644
index 0000000..5f87df4
--- /dev/null
+++ b/lesson_05/turtle_P.py
@@ -0,0 +1,58 @@
+import rclpy
+from rclpy.node import Node
+
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+
+
+def angle_diff(a1, a2):
+    a = a1-a2
+    return (a+math.pi)%(2*math.pi)-math.pi
+
+
+
+class RurMover(Node):
+    def __init__(self):
+        super().__init__('minimal_publisher')
+        self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+        self.pose_subscriber = self.create_subscription(Pose, 'turtle1/pose', self.pose_callback, 10)
+        self.desired_heading = 0
+        self.SIDE_TIME = 5.0
+        self.LINEAR_SPEED = 0.5
+        self.KP = 10
+        self.timer = self.create_timer(self.SIDE_TIME, self.pub_timer_callback)
+
+    def pose_callback(self, msg):
+
+        self.get_logger().info('Current heading: "%f"' % msg.theta)
+        self.get_logger().info('Setpoint: "%f"' % self.desired_heading)
+        
+        error = angle_diff(self.desired_heading, msg.theta)
+        msg_pub = Twist()
+        msg_pub.linear.x = self.LINEAR_SPEED
+        msg_pub.angular.z = self.controller_p(error)
+        self.publisher_twist.publish(msg_pub)
+        
+        
+    def controller_p(self, error):
+        
+        return self.KP * error
+
+    def pub_timer_callback(self):
+        self.desired_heading += math.pi / 2
+        self.desired_heading %= 2 * math.pi
+        self.get_logger().info('New angle setpoint: "%f"' % self.desired_heading)
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    mover = RurMover()
+
+    rclpy.spin(mover)
+
+    mover.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
-- 
GitLab


From 2d590ad35bdcdc7e8d473fd07c9b435bc02a51b3 Mon Sep 17 00:00:00 2001
From: vkolesnikov <vadimkolesnikov2006@gmail.com>
Date: Sat, 26 Oct 2024 22:47:41 +0300
Subject: [PATCH 2/3] Added launch-file

---
 launch/turtle_P.launch.py | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100644 launch/turtle_P.launch.py

diff --git a/launch/turtle_P.launch.py b/launch/turtle_P.launch.py
new file mode 100644
index 0000000..56115cb
--- /dev/null
+++ b/launch/turtle_P.launch.py
@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='turtlesim',
+            namespace='',
+            executable='turtlesim_node',
+            name='sim'
+        ),
+        Node(
+            package='lesson_05',
+            namespace='',
+            executable='turtle_P',
+            name='square'
+        ),
+        Node(
+            package='rqt_plot',
+            namespace='',
+            executable='rqt_plot',
+            name='plot'
+        )
+    ])
-- 
GitLab


From 9e3827e4b0ba9c1cc0781a98257822d086aed2be Mon Sep 17 00:00:00 2001
From: vkolesnikov <vadimkolesnikov2006@gmail.com>
Date: Sat, 26 Oct 2024 22:57:35 +0300
Subject: [PATCH 3/3] Added support for the p_controller file

---
 setup.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/setup.py b/setup.py
index 0e83277..38f72d3 100644
--- a/setup.py
+++ b/setup.py
@@ -27,6 +27,7 @@ setup(
             'step_2 = lesson_05.step_2:main',
             'step_3 = lesson_05.step_3:main',
             'step_4 = lesson_05.step_4:main',
+            'turtle_P = lesson_05.turtle_P:main',
         ],
     },
 )
-- 
GitLab