Overview

This tutorial package provides a shape_server and example shape_client for drawing regular polygons with the turtlesim_node. The default client will draw a pentagon in turtlesim.

The Shape.action is defined below:

• #goal definition
  int32 edges
  float32 radius
  ---
  #result definition
  float32 interior_angle
  float32 apothem
  ---
  #feedback

Running the Tutorial Code

To run the default example, start by getting the required dependencies and making the package.

$ rosdep install turtle_actionlib
$ rosmake turtle_actionlib 

Then in separate terminals rosrun the following nodes:

$ rosrun turtlesim turtlesim_node
$ rosrun turtle_actionlib shape_server
$ rosrun turtle_actionlib shape_client

You will see:

•