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# ROS2-PurePursuitControl-PathPlanning-Tracking | ||
Route Planning and Tracking Application Developed Using ROS2, Turtlebot3, A*, and PurePursuit | ||
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![Screenshot_5](https://user-images.githubusercontent.com/87595266/205762696-91c48af3-617d-4784-a1d9-ebe66400df4c.png) | ||
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# V1.1 Version Update | 02/09/2023 | ||
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![1-min](https://user-images.githubusercontent.com/87595266/217926638-2232239a-5f35-469e-829c-a2883f835bdc.gif) | ||
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## Innovations / New Features | ||
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- Pure Pursuit algorithm has been optimized, providing route tracking optimization. | ||
- B-Spline algorithm has been added for path waypoints, providing path smoothing and improving route tracking optimization. | ||
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![Screenshot from 2023-01-31 21-28-34](https://user-images.githubusercontent.com/87595266/217913980-c0ec9e54-0f9c-4488-8a21-2d258873a409.png) | ||
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- The Costmap algorithm has been optimized. | ||
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# How it works? | ||
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Start a Gazebo simulation world. For example; | ||
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`export TURTLEBOT3_MODEL=burger` | ||
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`ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py` | ||
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Then, run the mapping package to perform mapping. | ||
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`ros2 launch slam_toolbox online_async_launch.py` | ||
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Run the PathPlanning-Tracking package. | ||
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`ros2 run nav_controller control` | ||
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Then, set the target point via rviz2. | ||
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# YouTube Preview & Usage Video | ||
https://youtu.be/r_2mMyaLLaI | ||
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## Requirements | ||
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- ROS2 - Humble | ||
- Slam Toolbox | ||
- Turtlebot3 Package | ||
- Gazebo Simulator | ||
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