Turtlesim_CatchAndCatch

This is a fun implementation of Catch and Catch game done using ROS Turtlesim.

Initially a turtle will be there which is the catcher of the game. A new turtle will be spawned to which the catcher will go to the goal position to catch it. Everytime we catch a turtle a new turtle is spawned in a random position. This process repeats continuously.

Flow of program

• Locating random positions


• Spawning new turtle


• Identifying distance


• Equating the distance


• Killing the turtle

1. Locating random positions

> random.randrange()
This function can output a random value between the range of value we give it as a input. So by using this we can locate and spawn a turtle in random positions of the turtlesim workspace.

2. Spawning new turtle

>Turtle_spawn(goal,killer_name,spawn_name)
By using this function we can create a new turtle anywhere in the screen according to our inputs. The inputs are
goal = position
killer_name and spawn_name
So the turtle will be spawned at the goal position with the name of spawn_name

3. Identifying Distance

The distance between the spawned turtle and the catcher turtle is found using the function
>euclidean_distance(self, goal_pose)

4. Equating the distance

Equating the distance between the turtles with the tolerance level, the linear and angular velocities of the turtle is changed simultaneously
>while self.euclidean_distance(goal_pose) >= float(distance_tolerance):
With that the turtle moves for catching the new turtles


5. Killing the turtle

>Turtle_kill(killer_name)
This function is used to kill the turtle whose input parameter is the name of the turtle. Once the catcher turtle catches the newly spawned turtle, then the Turtle_Kill function is been called
>self.Turtle_kill('turtle2')

You can also view the result here.