ROS 2 Turtlesim PID Controller

This ROS 2 Python node controls a turtle in the turtlesim simulator to drive it to a desired position using a PID controller. Currently, PID constants are utilized for both distance and heading error.

Features

• Retrieves the current pose of the turtle.
• Computes the error in distance and heading to the desired position.
• Uses a simple proportional controller to compute the required linear and angular velocities.
• Publishes these velocities to command the turtle.

Prerequisites

• ROS 2 (Humble,Foxy, Galactic, or later versions recommended).
• turtlesim package.

Usage

1. Ensure you have ROS 2 and turtlesim installed.

2. Clone this repository:

git clone https://github.com/roboticvedant/ROS2_turtlesim_PID_demo.git
cd ROS2_turtlesim_PID_demo

3. Source your ROS 2 installation:

source /opt/ros/[YOUR_ROS2_DISTRO]/setup.bash

4. Build the service package first, source it and then build the main turtle_demo_controller package:

colcon build --packages-select turtlebot_serv

source install/setup.bash
colcon build --packages-select turtle_demo_controller

5. Source the built package:

source install/setup.bash

6. Run the turtlesim node:

ros2 run turtlesim turtlesim_node

7. In a new terminal, run the controller:

ros2 run turtle_demo_controller turt_controller

8. In a new terminal tab, run the service call to give custom goal:

ros2 service call /goal_pose turtlebot_serv/srv/GoalPose "{x: 9, y: 9}"

PID Control

This code uses Proportional Integral Derivative Controller to control the turtlebot.

Future Enhancements

• Incorporate full PID control for both distance and heading error.
• Add dynamic reconfiguration to adjust PID constants on-the-fly.

Contribute

Feel free to fork, open issues, and submit pull requests. Any contributions are welcome!