APR Project

This repository uses a linear controller to navigate a Turtlebot3 around a circular shape and back to its starting position. The odometry and the laser scan is provided by a server running on the Turtlebot3 and is obtained by establishing a TCP/IP connection. Also the linear and angular velocities can be sent to control the robot.

This project was done for the UAS Technikum Vienna

Requirments

• Turtlebot3 with server client
• Connection to the Turtlebot3
• cmake
• make
• C++ compiler

Usage

1. Download the repository
2. use mkdir build to create a build folder.
3. use cd build then cmake .. then make to build an executable
4. run the programm with ./main
5. now the robot should start driving its predefined motion