Programming for Robotics – ROS: Exercise 3

This post is a continuation of previous project, on learning ROS. The lecture and exercise is given by Robotic Systems Lab. – ETH Zurich, can be accessed through this website.

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.

Exercise 3

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!

Leave a Reply

Fill in your details below or click an icon to log in: Logo

You are commenting using your account. Log Out /  Change )

Google photo

You are commenting using your Google account. Log Out /  Change )

Twitter picture

You are commenting using your Twitter account. Log Out /  Change )

Facebook photo

You are commenting using your Facebook account. Log Out /  Change )

Connecting to %s