Assignment 1 by Jugal Pahuja

submissions/Jugal-Pahuja/Assignment-1/Robotics_Autonomous_Navigation_Assignment_1.py

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+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+
+class DrawSquareNode(Node):
+    def _init_(self):
+        super()._init_("draw_square")
+        self.cmd_vel_pub_=self.create_publisher(Twist,'/turtle1/cmd_vel',10)
+        self.timer_=self.create_timer(2,self.send_velocity_command)
+        self.state="move"
+        self.get_logger().info("Draw square node has been started.")
+
+    def send_velocity_command(self):
+        msg=Twist()
+        if (self.state=="move"):
+            msg.linear.x=1.5
+            msg.angular.z=0.0
+            self.cmd_vel_pub_.publish(msg)
+            self.state="turn_right"
+        elif (self.state=="turn_right"):
+            msg.linear.x=0.0
+            msg.angular.z=1.5707963267948966
+            self.cmd_vel_pub_.publish(msg)
+            self.state="move"
+
+def main(args=None):
+    rclpy.init(args=args)
+    node=DrawSquareNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if (_name=='main_'):
+    main()
+
+#above code is for drawing square and below code is to count the squares
+
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from turtlesim.msg import Pose
+
+class DrawSquareSubcriberNode(Node):
+    def _init_(self):
+        super()._init_("count_squares")
+        self.draw_square_subscribe_=self.create_subscription(Pose,"/turtle1/pose",self.pose_callback,10)
+        self.prev_theta=None
+        self.no_of_squares=0
+
+    def pose_callback(self,msg:Pose):
+        current_theta=msg.theta
+        if (self.prev_theta is not None):
+            if (current_theta>0 and self.prev_theta<0):
+                self.no_of_squares=self.no_of_squares+1
+                self.get_logger().info(f"Number of Squares {self.no_of_squares}")
+        self.prev_theta=current_theta
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node=DrawSquareSubcriberNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if (_name=="main_"):
+    main()