Direct Base Controller

Description

By giving a target pose, the youbot should successfully move towards the pose. For addressing the problem, the linear and angular velocities must be synchronized. The code is written in C++ language with node lifecycle implemented.

Features impelemented

1. Node Life Cycle
2. Dynamic Variable Configuration
3. Synchronized linear, angular motion
4. Obstacle detection

Environmental setup

1. Install ROS rolling. And then source it.

sudo apt install ros-rolling-desktop
source /opt/ros/rolling/setup.bash

2. Install gazebo

sudo apt-get install ros-rolling-ros-gz

3. Install vscode For more information please refer to vscode download page.

Packages

The necessary packages are as following:

1. rclcpp
2. geometry_msgs
3. tf2
4. tf2_ros
5. tf2_geometry_msgs
6. tf2_sensor_msgs
7. sensor_msgs
8. rclcpp_lifecycle

Execution

1. Launch gazebo and spawn the youbot in the environment.

    ros2 launch youbot_gazebo start_world.launch.py
    ros2 launch youbot_gazebo spawn_youbot_ros2.launch.xml
   

2. Run the ROS node.

    ros2 launch mir_direct_base_controller direct_base_controller.launch.py
   

3. Launch RQT to publish target pose.

    rqt
   

   

4. Run the lifecycle node.

   ros2 run lifecycle_controller lifecycle_controller  --ros-args -p lc_name:=direct_base_controller
   

• To understand execution details, please refer to wikipage.