The package is used for determining steering angle at each instant of time. Here the user flexibility for selecting single or multi-goal point control system. This package is tested both on simulation and hardware setup as shown below. The aim of this project is to develop a path tracking system for turtlebot.
Turtlebot PID controller results:
Results with multi-goal points
First create a catkin workspace and download the repo
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
Once gazebo is launched, open another terminal, then
source ./devel/setup.bash
rosrun pid_controller pid_controller
Create Catkin_ws and initialize it, Follow the http://wiki.ros.org/ROS/Tutorials link for more information.
Install tutlebot3 package, Follow the https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/ link for more information.