/follow-wall-l4ros2

follow-wall-l4ros2 created by GitHub Classroom

Primary LanguageC++Apache License 2.0Apache-2.0

Open in Visual Studio Code

GitHub Action Status codecov

Follow Wall task

In this task the robot will approach a wall and follow its countour.

Members of L4ROS2

  • Javier de la Canóniga: @javi-dbgr
  • Iván López: @ivrolan
  • Alejandro Moncalvillo: @Amglega
  • Unai Sanz: @USanz

Node diagram

scheme

Sensing node scheme

scheme

Actuation node diagram (state machine)

scheme

Examples of behavior

You can find the full lenght videos in this link

Initial conditions: Corner

corner-init-vid

Initial conditions: No wall near

no-wall-vid

Testing the algorithm in real life with the Kobuki robot

The code can be found in the branch kobuki_irl

kobuki_irl