TurtleBot3 PID Controller

This ROS package is a simple practice for controlling the TurtleBot3 to move in an elliptic path

How to Use the Package

The first step is to make a workspace directory

mkdir -p catkin_ws/src

cd catkin_ws/src

source /opt/ros/noetic/setup.bash

catkin_init_workspace

then clone the repository into the src directory

git clone https://github.com/aliy98/ROS_TurtleBot3_PID_Controller.git

now make the ros package using caktkin_make command

cd ..

catkin_make

the package would be up and and running using the command below

source devel/setup.bash

Simulation

open another terminal to choose the turtlebot type

echo 'export TURTLEBOT3_MODEL=waffle' >> ~/.bashrc

now the simulation process can be done in gazebo

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

you can also use rviz to gain a better understanding of the path planning and robot footprint so open another terminal and run this command

roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

in the first terminal run the source files for visualising the robot footprint

rosrun pi_controller foot_print.py

make sure you have added the path topic in rviz envoirenment

open another terminal to run controller.py which is for the whole control and path planning process. but before running the package make sure that you have simple pid module installed on your os

pip install simple_pid

source catkin_ws/devel/setup.bash

rosrun pi_contoller controller.py

the package also plots the path planning error during the simulation time