Andru Liu

This package has a simulated turtle draw a series of waypoints and follow them while tracing out its path and returning the total distance traveled. The package depends on turtlesim, making use of the turtle and various messages and services from within the package.

To launch the package use the roslaunch command roslaunch turtle_control run_waypoints.launch This will initialize the turtlesim node. Then run the rosservice rosservice call /restart "x: 1.0 y: 1.0" This service takes in an x and y input which can be within the bounds of [0, 10].

To adjust the waypoints the turtle will draw and follow use the waypoints.yaml file. The file can take any number of listed waypoints which will be launched.