turtle_tf2_broadcaster.py:- Initialize Transform broadcaster
- Declare a subscriber to turtleX/pose topic
- Set up transform message transform
- Set up transform message rotation
- Send transform message
turtle_tf2_listener.py:- Initialize Transform listener
- Declare a publisher to turtleX/cmd_vel topic
- Create a timer to call the callback function
- Calculate the angle difference between the turtles
- Calculate the distance between the turtles
- Publish the velocity message
colcon build --packages-select turtle_tf2
source install/setup.bash
Open 2 terminals. On the first one run:
ros2 run turtle_tf2 turtle_tf2_app.launch.yaml
On the second one run:
ros2 run turtlesim turtle_teleop_key