This time, the exercise goal is to make the robot hit the pillar in the simulation environment. The pillar position is found by measuring closest distance from LIDAR measurement. The speed is set to be constant and a simple P controller is made to direct Husky towards the pillar. Both speed and P-gain is written in param file, making it easy to tune avoiding re-build the code. A marker in RViz is created to visualize location of the pillar.
The video above shows my result for the exercise. You can find the exercise paper sheet on this link.
Thanks to Robotic Systems Lab – ETH Zurich for sharing this helpful course!