Only released in EOL distros:   electric fuerte groovy

Content

This package provides three examples on how to use teer with ROS. They all use turtlesim and come with launch files. A small library, turtle_math.py, implements the common code not related to teer.

lonely_turtle.py

A simple turtle moving in a square. This example employs two tasks turtle1_go and turtle1_task. The first publishes turtlesim/Velocity commands every half second, while the second task takes care of following the square path.

turtle_dating.py

Two turtles moving in squares of opposite directions. When turtles meet, they fall in love, forget about their doing, and dance for a while; then they become bored and get back to business. Like in the previous example, turtle move using two tasks each (turtleN_go and turtleN_wandering). In addition, a fifth task, cupidon, waits until turtles are close enough, pauses their tasks, makes them dance, and resumes their tasks afterwards.

turtle_coverage.py

One turtle does zigzag coverage and a second does situation awareness. When the second meets the first, it takes control of it, moves it to a certain position, and restarts its task. Like in the previous examples, the zigzag behaviour is implemented using two tasks, turtle1_go and turtle1_coverage. One novelty is the catching of the GeneratorExit exception, which allows turtle1_coverage to kill turtle1_go when killed. This provides a flexible mechanism to implement parent/child relationship between tasks. The situation-awareness behaviour is implemented using a pair of turtle2_orbit and turtle2_orbiting tasks, the latter being the task taking control of the coverage turtle (turtle 1).