Congratulations!

The Turtlesim project is now finished. But… is it really? Well you can always improve a project.

If you want to go further you can, for example:

• Make the new turtles move randomly. You will then need to be able to keep an eye on each turtle, and thus dynamically create a subscription for each alive turtle’s pose! For that you can create a “middle” node whose goal is to monitor the playground, and tell the turtle controller where to go at any given time.

• Change the pen color each time the “master turtle” has caught another turtle.

• Add another “master turtle” node to catch turtles even faster!

• ...

With this project under your belt you should now be able to apply all the knowledge you got here on any of your robot projects using ROS 2.

Some of the functionalities you saw in this section are in fact pretty similar to what you can find on existing robots.