Description

Topics : Publisher,Subscriber,Turtlebot

● Create a folder scripts in the source folder of your turtlebot workspace

● Write a publisher to make your turtlebot move in a circular trajectory. Launch your turtlebot simulation by typing
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch Your Code:

● Update the above code to include a subscriber module which prints the x and y coordinate values as the turtlebot does the circular trajectory Your Code:

● Write a python node which makes the turtlebot move in a straight line for a duration of 5 sec and continuously displays the distance moved from the start. Your Code: