follow_curve

Package to simulate with turtlesim a non-holonomical robot following a curve using a vector field.

How It Works

The script simulador.py contains the class TurtleBot and the main function, the latter creates an object TurtleBot and calls the method move_turtle. This method contains the coordinates of the desired curve and publishs the velocities necessited to follow it. The remaining methods are chained to this first one.

Requirements

This package utilizes ROS. Follow download instructions for your distro in: ROS Download

Instructions

Clone this repository into your catkin_ws/src folder:

$ git clone https://github.com/JoBaiao/follow_curve

Compile and source:

$ catkin build follow_curve
$ source ~/catkin_ws/devel/setup.bash

For a quick example, run:

$ roslaunch follow_curve simulador.launch