Turtlebot3_ControllerROS

The repository contains my implementations for turtlebot3 controllers written in C++ for Turtlebot3 in ROS

The controller(s) work for ROS Kinetic, ROS Melodic & ROS Neotic

Turtlebot3- PID_Controller

Installation

Open your terminal and follow the following steps

Go into your catkin_ws (or any ROS workspace) or create one if you do not have one

    mkdir -p catkin_ws/src/
    catkin_init_workspace

Clone the repository in src folder of your catkin_ws

    git clone https://github.com/KavitShah1998/Turtlebot3_ControllerROS

Build and source your catkin_ws

    catkin_make
    source ./devel/setup.bash

Open a new terminal, source it and launch any turtlebot3_world (Make sure you have turtlebot3 packages installed on your system)

    roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Once Gazebo starts running, open another terminal, enter ito your catkin_ws, source it and run the turtlebot3 controller executable

    cd catkin_ws/
    source ./devel/setup.bash
    rosrun turtlebot3_controller controller_node

On-Hardware implementation of point-2-point controller & trajectory tracking controller on turtlebot
Implementation of MPC Controller on simulation and hardware

Stay Tuned for more exciting updates to the package.

Thanks for visiting.