There are two ROS 2 packages in this repository. t_follower_pkg includes a launch file and a node that allows you to control one turtle and have another turtle follow it based on its pose in the turtlesim environment. While we will be able to control the first turtle.

The second package is turtkechaser. A main turtle (a.k.a. chaser) that will chase the other turtles, spawning only when the previous one is chased

These packages have been created and tested on Ubuntu 22.04 with ROS2 Humble.

1. Clone this repository to your ROS 2 workspace:

   git clone https://github.com/your-username/your-ros2-turtle-package.git

2. Build the package:

   rosdep install --from-paths src -y --ignore-src
   colcon build

3. Source the setup file:

   source install/setup.bash

To launch the turtle follower along with the turtlesim node, use the provided launch file:

ros2 launch t_follower_pkg t_follower_launch.py

Creating a controller node that will control the linear and angular velocity of the chaser turtle as per the spawning of the other turtles. Creating a spawner node that will spawn turtles only when the previous one is chased. Using P controller to guide the chaser to the spawned turtle. Creating a launch file to launch all the required nodes in one go!

# building the package
colcon build --packages-select turtlechaser

# source the workspace
source ~/turtlechaser_ws/install/setup.bash

# launch the nodes
ros2 launch turtlechaser turtlechaser.launch.py

Now you should be enjoying watching a turtle chasing other turtles on its own :D