Differential Drive Controller

Overview

ROS package for an PID and LQR controller on the differential drive robots.

Keywords: Controller, Turtlebot3, Example Class

License

The source code is released under a BSD 3-Clause license.

Author: Jeferson Lima
Affiliation: UTFPR
Maintainer: Jeferson Lima, jefersonlima@utfpr.edu.br

The DIFF_DRIVE_CONTROLLERpackage has been tested under ROS Noetic on respectively Ubuntu 20.04 LTS. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) (middleware for robotics),

  sudo rosdep install --from-paths src

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://gitlab.com/jeferson.lima/diff_drive_controller.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Unit Tests (WIP)

Run the unit tests with

catkin_make run_tests_diff_drive_controller

Usage

Describe the quickest way to run this software, for example:

Run the main node with

roslaunch diff_drive_controller pid_controller.launch

Config files

Config file config/control.yaml

• control.yaml Controller parameters

Nodes

diff_drive_controller

Reads odom and computed the control to publish in cmd_vel.

Subscribed Topics

• /dist_error (std_msgs/Float64)

  The Target Distance Error.

• /angle_error (std_msgs/Float64)

  The Target Angle Error.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

References

• ROS Best Practices