/tg-aut.700-ex3-ws

Primary LanguagePython

Rectangular path:

ros2 run car_controller controller --path "0,0,0;1,0,0;1,1,1.57;0,1,3.14;0,0,0"

Diagonal path:

ros2 run car_controller controller --path "0,0,0.7854;1,1,2.3562;0,2,3.9269;-1,1,5.4977;0,0,0"

Circular path:

ros2 run car_controller controller --path "0,0,0;1,1,1.570;0,2,3.1415;-1,1,4.712;0,0,0" --circular True

Commands for the demo

open gazebo with turtlebot:

export TURTLEBOT3_MODEL=waffle_pi; ros2 launch turtlebot3_gazebo empty_world.launch.py

Teleop for turtlebot3

ros2 run turtlebot3_teleop teleop_keyboard
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ros2 bag record -o turtle_vel.bag /cmd_vel
+
ros2 bag record play turtle_vel.bag

linear and angular errors on rqt_plot for diagonal path

image