Wall Following PID Robot

Assignment designed to write a feedback controller that controls the yaw of a ground robot via PID control based on proportional, integral, and derivative terms (denoted P, I, and D respectively), mainly relying on gazebo for simulated scenarios.

Demo:

• PID Controller Explanation

Prerequisites

• Ubuntu 16.04
• ROS kinetic: Installation instruction can be found here.
• Required ROS packages:

    $ sudo apt-get install ros-kinetic-control-toolbox ros-kinetic-joystick-drivers ros-kineticrealtime-tools ros-kinetic-ros-control ros-kinetic-gazebo-ros-control ros-kinetic-roscontrollers

NOTE: By default the HOME environment variable is not set. Set this up doing the following:

export ROS_HOME=~/.ros
source /opt/ros/kinetic/setup.bash

Build

compile the code

$ catkin_make

How to Use

Start gazebo simulator
Bring up a world with walls in the gazebo simulator

$ roslaunch wall_following_assignment gazebo_world.launch world_name:=walls_one_sided

Start husky follower robot
Bring up the robot in that world

$ roslaunch wall_following_assignment husky_follower.launch

The only error that should appear after these two commands is that no joystick can be found.

Start PID controller
Then launch the PID controller

$ roslaunch wall_following_assignment wall_follower_python.launch

Parameter Tuning

You can tweak the PID parameters using the dynamic reconfigure server.

$ rosrun rqt_reconfgure rqt_reconfgure

License

This project is licensed under the MIT License - see the LICENSE file for details