Module #5: Control Systems and Dynamics

Module # 5 Overview :

• package : control_systems
• In this package we will learn how to write and configure controllers for your robots in simulation.
  • P controller for go to goal
  • ros2_control : Different Controllers in Simulations

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble

Running Project

• Create your own workspace ( if not done already )

  mkdir -p ~/robotisim_ws/src
  cd ~/robotisim_ws/src
  

• Clone repository ( if not done already )

  git clone https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/robotisim_ws/src/robotics_software_engineer
  vcs import < dependencies.repos
  cd ~/robotisim_ws/
  rosdep install --from-paths src --ignore-src -r -y
  

• Export TurtleBot model

  source install/setup.bash
  export TURTLEBOT3_MODEL=waffle_pi
  

• Run Go to Goal Behavior

  ros2 launch  control_systems goal_planer.launch.py 
  

• Run robot with velocity controller

   ros2 launch control_systems velocity_controller.launch.py