ROS2 Robot with Custom Differential Drive plugin and waypoint follower

Workspace Setup

git clone https://github.com/Ellakiya15/ROSbot.git

Build the packages

colcon build
source install/setup.bash

Start Simulation

ros2 launch custom_bot gazebo.launch.py

Custom_bot package

This package includes a C++ node that listens to Twist messages from /cmd_vel, converts them into RPM values, and publishes them on the topics:

• /left_wheel_rpm

• /right_wheel_rpm

where wheelbase, wheel_radius and Maximum rpm are dynamically changeable. And also has custom plugin for Differential Drive called "DiffDrive".

To run Differential Drive Controller

ros2 run custom_bot cmd_vel_to_rpm

To check rpm values

ros2 topic echo /left_wheel_rpm
ros2 topic echo /right_Wheel_rpm

For gazebo

gz topic -i /left_wheel_rpm
gz topic -i /right_wheel_rpm

Waypoint_Navigation package

A Python based waypoint navigation scripts which navigates by using PID Controller.

Tuning PID Parameters

To fine-tune the control system, use rqt for dynamic adjustment of PID Values:

• Kp (Proportional gain)
• Ki (Integral gain)
• Kd (Derivative gain)

To run Waypoint Navigation

ros2 run waypoint waypoint_navigation

To check

ros2 run waypoint waypoint_navigation --ros-args -p waypoint_1_x:=2.0 -p waypoint_1_y:=1.0 -p waypoint_2_x:=4.0 -p waypoint_2_y:=3.0

Terminal Output

[INFO] [1740153954.085911906] [waypoint_navigation]: Waypoint 1 reached: (2.0, 1.0)
[INFO] [1740153957.661830581] [waypoint_navigation]: Waypoint 2 reached: (4.0, 3.0)
[INFO] [1740153957.663092059] [waypoint_navigation]: Waypoints reached. Stopping robot.
[INFO] [1740153957.664060657] [waypoint_navigation]: Successfully reached all waypoints.