TurtleBot3 Dynamic Tracking

turtlebot3_dynamic_tracking is a ROS 2-based project for controlling a TurtleBot3 robot to dynamically track a reference trajectory using a Model Predictive Path Integral (MPPI) controller. This project demonstrates how to implement dynamic trajectory tracking for mobile robots in environments with changing targets, using ROS 2 Humble and the Nav2 navigation stack.

Features

• Dynamic Trajectory Tracking: The robot can follow a reference trajectory that changes over time.
• Model Predictive Path Integral (MPPI): Uses MPPI for optimal control, which computes a control sequence by simulating the system forward in time and optimizing over future trajectories.
• ROS 2 Integration: Fully integrates with ROS 2 (Humble) to control the TurtleBot3 robot and visualize the tracking performance.
• Nav2 Integration: Uses Nav2 (Navigation 2) for robust autonomous navigation and path-following.
• Simulated Environment: Includes simulation support, allowing you to test the algorithm in a simulated Gazebo environment before running it on the physical robot.
• Open Source Scout Mini + Indro Commander Dataset:
• Pretrained Computer Vision Model:

Table of Contents

1. Prerequisites
2. Installation
3. Usage
4. Project Structure
5. Contributing
6. License

Prerequisites

Before running the turtlebot3_dynamic_tracking package, ensure you have the following dependencies installed:

• ROS 2 Humble: Tested with ROS 2 Humble Hawksbill.
• TurtleBot3 Packages for ROS 2: Required to run the TurtleBot3 simulation and control.
• Nav2 (Navigation 2): Provides navigation capabilities for the robot.
• Gazebo: For simulating the TurtleBot3 and testing the tracking algorithm.
• Python 3.x: The MPPI algorithm is implemented in Python. Ensure you have Python 3.x installed.
• ROS 2 Python Libraries: Install rclpy, nav2_msgs, and other related libraries.

Installing ROS 2 Humble

If you don’t have ROS 2 Humble installed, follow the instructions for installing ROS 2 Humble on Ubuntu from the official ROS 2 installation guide.

Installing TurtleBot3 Packages for ROS 2

Follwo the instruction to intall nessarary turtlebot3 packages from official Turtlebot3 PC setup. Run the simulation, you need to add the simulation package in your workspace Turtlebot3 simulation guide

Run the multiple robot follower

In 'terminal 1'

ros2 launch turtlebot3_multi_robot gazebo_multi_world.launch.py

In 'terminal 2'

ros2 run turtlebots_aoc_pkg multi_follower

• multi-robot-video
• two-robots-video