Control of Mobile Robots

Control of Mobile Robots course project 2021/2022 - Politecnico di Milano.

• Insert the ROS packages car_traj_ctrl for the Bicycle Kinematic Model and car_simulator for the Single-Track Dynamic Model by typing:

  $ mv car_traj_ctrl <path>/catkin_ws/src
  $ mv car_simulator <path>/catkin_ws/src

• Go to your own catkin_ws folder in the system and recompile everything by doing:

  $ cd <path>/catkin_ws
  $ source ./devel/setup.bash
  $ catkin_make

• Then run ROS core by typing:

  $ roscore

Bicycle Kinematic Model – car_traj_ctrl package

• Open a new terminal and record the robot activity through a rosbag in this manner by reading the topic car_state:

  $ cd <path>/catkin_ws/src/car_traj_ctrl/script
  $ rosbag record -O test_eight /car_state

• Open a new terminal and launch the robot simulation as:

  $ cd <path>/catkin_ws
  $ source ./devel/setup.bash
  $ roslaunch car_traj_ctrl test_car_eight.launch

• Go back to the terminal you ran rosbag and press ctrl + c
• Do the same in the terminal which is running the robot simulation
• Go back to the terminal where you stopped rosbag and run the following python script by typing on the bash:

  $ python plot_result.py test_eight.bag 

• Now you can see the result produced by the execution you recorded.

Single-Track Dynamic Model – car_simulator package

• Open a new terminal and record the robot activity through a rosbag in this manner by reading the topic car_state:

  $ cd <path>/catkin_ws/src/car_simulator/script
  $ rosbag record -O test_simple /car_state

• Open a new terminal and launch the robot simulation as:

  $ cd <path>/catkin_ws
  $ source ./devel/setup.bash
  $ roslaunch car_simulator test_car_simple.launch

• Go back to the terminal you ran rosbag and press ctrl + c
• Do the same in the terminal which is running the robot simulation
• Go back to the terminal where you stopped rosbag and run the following python script by typing on the bash:

  $ python plot_result.py test_simple.bag 

• Now you can see the result produced by the execution you recorded.