# 小乌龟的随机运行与跟随
## 211250199 汤文源
### 准备工作
- 建立ROS工作空间
- 编译工作空间
- 编写程序并运行
主要的cpp文件：turtle_tf_broadcaster.cpp,turtle_tf_listener.cpp
其中，turtle_tf_broadcaster.cpp控制小乌龟turtle1的随机运行并发送其坐标，
turtle_tf_listener.cpp产生一个新的乌龟turtle2，获取turtle1的坐标，运算后朝向turtle1运动
另外还有一个launch文件负责启动，启动命令：
```
catkin_make
resource devel/setup.bash
roslaunch turtlesim_tf start_tf.launch
```
视频如turtle_randomFollow.mp4所示
此文件包只列举了cpp与launch文件
嵌入式课程作业：实现两个小乌龟，其一随机运动，另一只跟随此小乌龟的运动方式+源代码+文档说明+视频 （413个子文件） 
local_setup.bash 283B local_setup.bash 283B local_setup.bash 283B setup.bash 260B setup.bash 260B setup.bash 260B feature_tests.bin 12KB CMakeDetermineCompilerABI_CXX.bin 8KB CMakeDetermineCompilerABI_C.bin 8KB .built_by 11B .built_by 11B CMakeCCompilerId.c 18KB feature_tests.c 688B catkin_make.cache 131B .catkin 24B CATKIN_IGNORE 0B .catkin_workspace 98B cmake.check_cache 85B Makefile.cmake 18KB turtlesim_tfConfig.cmake 9KB turtlesim_tfConfig.cmake 9KB cmake_install.cmake 6KB CMakeCXXCompiler.cmake 5KB CMakeCCompiler.cmake 2KB cmake_install.cmake 2KB package.cmake 2KB cmake_install.cmake 1KB cmake_install.cmake 1KB DependInfo.cmake 1KB cmake_install.cmake 1KB DependInfo.cmake 1023B DependInfo.cmake 920B DependInfo.cmake 911B DependInfo.cmake 898B DependInfo.cmake 799B package.cmake 766B CMakeDirectoryInformation.cmake 626B CMakeDirectoryInformation.cmake 626B CMakeDirectoryInformation.cmake 621B CMakeDirectoryInformation.cmake 621B CMakeDirectoryInformation.cmake 621B order_packages.cmake 579B turtlesim_tfConfig-version.cmake 426B turtlesim_tfConfig-version.cmake 426B cmake_clean.cmake 407B CMakeSystem.cmake 402B cmake_clean.cmake 392B cmake_clean.cmake 384B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B DependInfo.cmake 316B共 413 条
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