Turtlesim Experiments

This repository contains some experiments with Turtlesim which implement the classical PID controllers for A to B motion and for pure turning in a differential drive mobile robot, and also one pattern (called Haus Vom Nikolaus) is generated using these controllers.

Functions Implemented

• moveToGoalPI - Implementation of PI controller to move turtle to desired position. Note that it is only for the x and y of the turtle, and not the theta.
• turnPI - Implementation of PI controller to turn the turtle (about itself i.e. about z axis).

TODO

• Implement Proportional controller
• Implement PI controller
• Implement PID controller
• Tune all controllers

Usage

Ensure that ROS and the ROS turtlesim package is installed in your machine.

Then, in a new terminal window, start the ROS master server :

roscore

Open another terminal and start the turtlesim simulator,

rosrun turtlesim turtlesim_node

Put the repository in your catkin workspace’s src folder, and do this in another terminal (assuming workspace name is catkin_ws):

cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

(You can edit the source code to modify the destination coordinates or orientation, but you need to repeat the catkin_make steps after editing any code)
Then, you can run the C++ code using

rosrun turtlesim_expts haus_vom_nikolaus

and check the output in the simulator window.

You can also write generate your own pattern by writing a script using the functions from movement.cpp like moveToGoal or turn