color_sensor_pid

PID Turtlebot3 lane following projet using a Flora color sensor

Notice

The node subscribes to error topic of the calculate error node. This value is used to compute the robot command in order to follow the lane.

Subscribed Topics

• /Error ([std_msgs/Float32]) Error between the luminous intensity measured and the one targeted

Published Topics

• /cmd_vel ([geometry_msgs/Twist]) Publishes the computed linear and angular speed of the robot

How to build

cd ~/catkin_ws/src/
git clone https://github.com/Thermay-Robotics/color_sensor_pid.git
cd ~/catkin_ws
catkin_make

Run

roslaunch color_sensor_pid pid_color_sensor.launch