TurtleSim Waypoint Follower with Proportional Control

This repository contains a Python implementation of a waypoint following behavior for the TurtleSim simulator in ROS. The code utilizes a proportional control strategy to guide the turtle to a series of specified waypoints.

Features

• Waypoint following: The turtle autonomously navigates through a sequence of predefined waypoints.
• Proportional control: The linear and angular velocities of the turtle are adjusted based on the distance and angular errors between the current pose and the target waypoint.
• Smooth trajectory: The turtle moves towards each waypoint while maintaining a smooth trajectory.
• Adjustable stay durations: The turtle stays at each waypoint for a specified duration of time before moving to the next waypoint.

Dependencies

• ROS (Robot Operating System): The code is designed to work with ROS, specifically the TurtleSim simulator.

Getting Started

1. Clone the repository:

git clone https://github.com/oussamahorrigue/TurtleSim-Waypoint-Follower-with-Proportional-Control.git

2. Build the ROS workspace:

• cd TurtleSim-Waypoint-Follower-with-Proportional-Control
• catkin_make

3. Run the waypoint follower node:

• source devel/setup.bash
• rosrun my_package waypoint_multiple_stop_last_point.py

Customization

You can customize the waypoints, stay durations, and control parameters by modifying the waypoint.py file.

• Modify the target_poses list in the __init__ method of the WaypointFollower class to define your desired waypoints.
• Adjust the stay_duration variable in the stay_at_waypoint method to set the desired stay duration at each waypoint.
• Fine-tune the control gains (linear_vel_gain and angular_vel_gain) in the move_to_next_waypoint method to achieve the desired performance.

Refer to the comments in the code for more guidance on making the desired changes.

Contributions

Contributions to the project are welcome! If you find any issues or have ideas for improvements, please open an issue or submit a pull request.

License

This project is licensed under the MIT License.

Acknowledgments

• The code in this repository is based on the concepts and principles of ROS and proportional control.
• Credits to the TurtleSim simulator provided by ROS for providing the platform for testing and simulation.