h2jaafar/tb-controller

turtlebot3 velocity controller

Run simulation export TURTLEBOT3_MODEL=burger ros2 launch turtlebot3_gazebo empty_world.launch.py

Run velocity controller ros2 run tb-controller velocity-controller

Created with ros2 pkg create --build-type ament_cmake --dependencies rclcpp std_msgs geometry_msgs --node-name velocity-controller --maintainer-name hussein tb-controller

Vicon Bridge

We pull messages from vicon_bridge package, and convert it to ros2 messages. This can be done in a docker.

ROS2/ROS1 bridge

• The computer which accomplishes the bridging must have both ROS2 and ROS1 installed. Please ensure that ROS2 = foxy, and ROS1 = noetic

See following tutorial

Run the following

export ROS1_INSTALL_PATH=/opt/ros/noetic
export ROS2_INSTALL_PATH=/opt/ros/foxy/install

Then

colcon build --symlink-install --packages-skip ros1_bridge
source ${ROS1_INSTALL_PATH}/setup.bash
source ${ROS2_INSTALL_PATH}/setup.bash
. dev_ws/local_setup.bash
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

To run, on the bridge machine

# Shell A (ROS 1 only):
source ${ROS1_INSTALL_PATH}/setup.bash
roscore

In a new shell,

# Shell B (ROS 1 + ROS 2):
source ${ROS1_INSTALL_PATH}/setup.bash
source ${ROS2_INSTALL_PATH}/setup.bash
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge

Run the docker with the vicon bridge as mentioned previously

PID

We use PID controller from PID