Assignment designed to write a feedback controller that controls the yaw of a ground robot via PID control based on proportional, integral, and derivative terms (denoted P, I, and D respectively), mainly relying on gazebo for simulated scenarios.
Demo:
- PID Controller Explanation
- Ubuntu 16.04
- ROS kinetic: Installation instruction can be found here.
- Required ROS packages:
$ sudo apt-get install ros-kinetic-control-toolbox ros-kinetic-joystick-drivers ros-kineticrealtime-tools ros-kinetic-ros-control ros-kinetic-gazebo-ros-control ros-kinetic-roscontrollers
NOTE: By default the HOME environment variable is not set. Set this up doing the following:
export ROS_HOME=~/.ros
source /opt/ros/kinetic/setup.bash
compile the code
$ catkin_make
Start gazebo simulator Bring up a world with walls in the gazebo simulator
$ roslaunch wall_following_assignment gazebo_world.launch world_name:=walls_one_sided
Start husky follower robot Bring up the robot in that world
$ roslaunch wall_following_assignment husky_follower.launch
The only error that should appear after these two commands is that no joystick can be found.
Start PID controller Then launch the PID controller
$ roslaunch wall_following_assignment wall_follower_python.launch
You can tweak the PID parameters using the dynamic reconfigure server.
$ rosrun rqt_reconfgure rqt_reconfgure
This project is licensed under the MIT License - see the LICENSE file for details