Nathan Justus December 9th, Year of Our Lord 2020
This is my final project for the ROB599 ROS Development class. You can see a description of my original pitch in the 'ROB599 Project Pitch' pdf file included.
Launch the three main nodes using
rosrun rob599_project flapper.launch
You can use the service to set goal locations by
rosservice call /set_swim_goal <x_goal> <y_goal> <angle_goal> <do_goal_boolean>
<x_goal>, <y_goal>, and <angle_goal> are all positive floats that set the goal pose of the robot with 0 <= x/y_goal <= 6 and 0 <= angle_goal <= 2*pi. I never actually implemented control for the angle_goal, so all it does is change the goal in the animation. The <do_goal_boolean> should be either 0 or 1, 0 clears old goals and makes the robot move forward indefinitely, and 1 tells the controller to actually try to navigate to this goal.
Implemented in ROS Melodic