In this project you will implement the methods for four control laws as covered in class:

• Move to Point
• Follow Path
• Move to Pose
• Follow Line

The starter files contain code that implement most of the needed functionality and the project has the structure of a ROS workspace. After cloning your project and before compiling with catkin_make, please make to understand the code. Then, make the necessary editions so the project can compile.

The files can be obtained using the URL listed in the green button above labeled "Clone or Download"

$ git clone [Team URL]

• auto_driver/src:
  • 03_robot.cpp - Robot class. Here is where you need to implement the control laws.
    • Find sections between the following markers:

      // WRITE YOUR CODE: BEGIN
      ...
      // WRITE YOUR CODE: END
      

    • After you implement the methods, you also need to tune the constants in each controller to improve performance as much as possible
  • 03_controllers.cpp - this is the main program that uses the Robot class.
  • 03_test.cpp - this program helps send paths to the controllers program without having to manually publish messages from the terminal. Feel free to try different paths
• auto_driver/CMakeLists.txt - compiling directives

Make sure that EK_AutoNOMOS_Sim is running and open bash at root of project. Then run:

source devel/setup.bash
catkin_make
rosrun auto_driver 03_controllers

Open another terminal and run:

source devel/setup.bash
catkin_make
rosrun auto_driver 03_test

The project will be submitted through classroom.github.com