turtlebot3_lane_following

PID Turtlebot3 lane following projet

Notice

• The node subscribes to angle topic of the lane detection node. This value is used to compute the robot command in order to follow the lane.

Subscribed Topics

• /lane_detection/angle ([turtlebot3_lane_detection/line_msg]) Angle of the lane to the robot

Published Topics

• /cmd_vel ([geometry_msgs/Twist]) Publishes the computed linear and angular speed of the robot

How to build

cd ~/catkin_ws/src/
git clone https://github.com/Thermay-Robotics/turtlebot3_lane_following.git
cd ~/catkin_ws
catkin_make

Run

Launch the camera node

Launch detection node

roslaunch turtlebot3_lane_detection turtlebot3_lane_detection.launch

if you want to run it with the camera, you can launch

roslaunch turtlebot3_lane_detection turtlebot3_detection_realsense.launch

Launch PID node

roslaunch turtlebot3_lane_following lane_following_node.launch

Additional parameters

• order ([double], default = 0)

  Command of the PID

• linear_speed ([double]), default=0.5)

  Max linear speed of the robot

• angular_speed ([double], default=0.1)

  Max angular speed of the robot

Test environment

Ubuntu 20.04 LTS
ROS Noetic

Jetson Nano
Ubuntu 18.04 
ROS Melodic