ROS project to follow a laser pointer with Turtlebot, using PID control
To run this simulation: Install Ubuntu 14 LTS (but it will likely work on other versions)
Run "ROSSetup.sh" to install ROS and the other project dependencies
Clone this repository into carkin_ws/src
Build the package by running:
cd catkin_ws
catkin_make
Try Gazebo examples by running:
roslaunch laser_tracking env_bringup.launch or
roslaunch laser_tracking amcl_demo_full.launch
Finally to run the controller, close the other ROS demos Open 2 terminals, and in one run:
roslaunch laser_tracking env_test.launch In the second terminal,:
roslaunch laser_tracking pidPlanner.py
When RViz opens, load the "blind navigation" configuration Publish 2D navigation goals in RViz.
To understand data / control flow, try using rqt_graph
or rostopic list