Control Systems Package

This package is part of the robotics curriculum of RSE aimed at teaching various control algorithms using ROS 2 and TurtleBot3 simulations. The package includes implementations of different control algorithms, including a proportional controller.

Overview

The control_systems package contains the following key files and functionalities:

Algorithms Taught

1. Proportional Control
   • A basic feedback control algorithm that adjusts the control input proportionally to the error.
2. Goal Planning
   • Planning a trajectory to achieve a goal position in a 2D space.
3. Linear Quadratic Regulator (LQR)
   • An optimal control algorithm that minimizes a cost function representing the state and control effort.

Commands to Run on your system

• To build the package:

  colcon build --packages-select control_systems
  

• To source the setup file:

  source install/setup.bash
  

• To run the goal planner:

  ros2 launch control_systems goal_planer.launch.py
  

• To run the velocity controller:

  ros2 launch control_systems velocity_controller.launch.py
  

• To run the Multi Goal Following using LQR

  ros2 launch  control_systems lqr_multi_goals.launch.py
  

Test your Learnings with Assignments

• Assignment

Source Files

Note: File names might have changed since the initial lectures, as this represents the final form of the package as it evolved by the last lecture.

1. goal_linear.cpp
   • Implements the logic for achieving a linear goal.
2. goal_planer.cpp
   • Implements the logic for a goal planner in a 2D space.
3. lqr_lib.cpp
   • Contains the library for the Linear Quadratic Regulator (LQR) algorithm.
4. lqr_node.cpp
   • Implements the ROS node for executing the LQR control algorithm.
5. velocity_controller_drive.cpp
   • Implements a velocity controller using ros2_control for driving the robot.

Dependencies are defined and linked, including rclcpp, tf2_ros, geometry_msgs, nav_msgs, angles, and Eigen3.