Tutorial 2

Tutorial 2

See CMSC CMSC 20600 page for background on a PID controller.

Launching

First, pull from the pe-tutorials repo. To run the simulation, open two terminal tabs. Remember to source the pe-tutorials setup file with source ./setup.bash.

In one type:

ros2 launch line_follower robot-and-line_world.launch.py

In the other do:

ros2 run line_follower line_follower

Two windows should appear, one Gazebo, the other the robot's front-facing camera.