Robot following the wall Project

This project is part of the final assessment of the ROS Basics (Python) at The Construct Academy

Requirements

ROS Environment

• ROS Noetic

Robotic Platform

• TurtleBot3

Description

The wall-following behaviour makes the robot follow along the wall on its right-hand side. It is composed of three sections:

Section 1: Follow the Wall

• Subscribe to the laser topic of the robot. /scan
• Publish to the velocity topic of the robot /cmd_vel

Section 2: Service Server to find the closest wall

• The service server uses a FindWall message that returns Truewhen the wall is found and the robot is ready to follow it.

Section 3: Action

The goal of this section is to create an action server that records the robot's odometry or trajectory of the robot.

• The action server uses an OdomRecord.action message that returns the list of odometries recorded and the feedback is the distance travelled by the robot at the moment.

Check the program working in real life here.