{"id":24936803,"url":"https://github.com/aliy98/ros-turtlebot3-pid-controller","last_synced_at":"2025-04-15T06:05:31.233Z","repository":{"id":160126612,"uuid":"411688088","full_name":"aliy98/ROS-TurtleBot3-PID-Controller","owner":"aliy98","description":"This ROS package is a simple practice for controlling the TurtleBot3 to move in an elliptic 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TurtleBot3 PID Controller\nThis ROS package is a simple practice for controlling the TurtleBot3 to move in an elliptic path\n\n## How to Use the Package\nThe first step is to make a workspace directory \n\u003e mkdir -p catkin_ws/src \n\u003e \n\u003e cd catkin_ws/src\n\u003e\n\u003e source /opt/ros/noetic/setup.bash\n\u003e\n\u003e catkin_init_workspace\n\u003e\nthen clone the repository into the src directory\n\u003e git clone https://github.com/aliy98/ROS_TurtleBot3_PID_Controller.git\n\u003e\nnow make the ros package using caktkin_make command\n\u003e cd ..\n\u003e\n\u003e catkin_make\n\u003e\nthe package would be up and and running using the command below\n\u003e source devel/setup.bash\n\u003e\n\n## Simulation\nopen another terminal to choose the turtlebot type\n\u003e echo 'export TURTLEBOT3_MODEL=waffle' \u003e\u003e ~/.bashrc \n\u003e\nnow the simulation process can be done in gazebo \n\u003e roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch\n\u003e\nyou can also use rviz to gain a better understanding of the path planning and robot footprint so open another terminal and run this command\n\u003e roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch\n\u003e\nin the first terminal run the source files for visualising the robot footprint \n\u003e rosrun pi_controller foot_print.py\n\u003e \nmake sure you have added the path topic in rviz envoirenment\n![Screenshot from 2021-09-29 17-28-01](https://user-images.githubusercontent.com/65722399/135284146-bfe89307-4783-456c-ab42-936a28e44868.png)\n\nopen another terminal to run controller.py which is for the whole control and path planning process.\nbut before running the package make sure that you have simple pid module installed on your os\n\u003e pip install simple_pid\n\u003e\n\u003e source catkin_ws/devel/setup.bash\n\u003e\n\u003e rosrun pi_contoller controller.py\n\u003e\n![Screenshot from 2021-09-28 21-13-20](https://user-images.githubusercontent.com/65722399/135280561-db4b4861-8d30-4e3b-b6ef-322679088f09.png)\nthe package also plots the path planning error during the simulation time\n![Figure_1](https://user-images.githubusercontent.com/65722399/135280985-a6255364-3e9c-47aa-b043-029b2a601756.png)\n![Figure_2](https://user-images.githubusercontent.com/65722399/135281076-6ee6ceb1-81e9-45e4-8683-74c565299ee7.png)\n\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faliy98%2Fros-turtlebot3-pid-controller","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Faliy98%2Fros-turtlebot3-pid-controller","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faliy98%2Fros-turtlebot3-pid-controller/lists"}