This repository uses a linear controller to navigate a Turtlebot3 around a circular shape and back to its starting position. The odometry and the laser scan is provided by a server running on the Turtlebot3 and is obtained by establishing a TCP/IP connection. Also the linear and angular velocities can be sent to control the robot.
This project was done for the UAS Technikum Vienna
- Turtlebot3 with server client
- Connection to the Turtlebot3
- cmake
- make
- C++ compiler
- Download the repository
- use
mkdir buildto create a build folder. - use
cd buildthencmake ..thenmaketo build an executable - run the programm with
./main - now the robot should start driving its predefined motion