trajectory_tracking

ROS based trajectory_tracking GAZEBO simulation.

Table of Contents

• Description
• Installation
• How To Use
• Author Info

Description

A simple ROS package of a trajectory_tracking GAZEBO simulation using turtlebot3 robot model based on three diffrent controllers (PID, Backstepping, Feedbak linearization, model predictive) .

Back To The Top

Installation

1- Go to your catkin_ws directory

    cd ~/catkin_ws/src

2- Clone the repository

    git clone https://github.com/alla-eddine/trajectory_tracking.git

3- install by

    cd ..
    catkin_make

How To Use

1- Go to your catkin_ws directory

    cd ~/catkin_ws
    catkin_make

2- in the first terminal tap run

    roslaunch trajectory_tracking gazebo_tb3_sim.launch

3- in the second terminal tap run

A- for backstepping controller run

    roslaunch trajectory_tracking backstepping.launch

B- for feedback linearization controller run

    roslaunch trajectory_tracking feedback.launch

C- for pid controller run

    roslaunch trajectory_tracking pid.launch

D- for model predictive controller run

    roslaunch trajectory_tracking mpc.launch

Back To The Top

Author Info

• Twitter - @D_allaeddine
• Website - ROS in Arabic

Back To The Top