This project demonstrates the simulation of ROS Turtlebot3 path tracking with PID. I have generalized the pid controller to track circular or linear trajectories. Here is the youtube video.

• First, open a terminal(Lets call terminal 1) and navigate the project.
• Next, go to the root directory(terminal 1): cd ~/catkin_ws/src/ # (you need to create the dir first if none exists, see ROS tutorial http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
• Then, clone following git projects(terminal 1): git clone ​ https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git git clone ​ https://github.com/ROBOTIS-GIT/turtlebot3.git git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
• Then, use the following command(terminal 1): source devel/setup.bash
• Then, use the following command(terminal 1): cd ~/catkin_ws && catkin_make
• Then, Set the turblebot3 model(terminal 1), gedit ~/.bashrc
• Then, Set the turblebot3 model(terminal 1): export TURTLEBOT3_MODEL=waffle
• Then, Save this file, and close it. Then make it to take effect immediately(terminal 1), source ~/.bashrc
• Next, go to the src directory of your workspace (/catkin_ws/src).
• Next, download the “tb3_simulation” package from Canvas and unzip it. then put this “tb3_control” folder under and copy and paste it to /catkin_ws/src.
• Then, use the following command(terminal 1): cd ~/catkin_ws && catkin_make
• Next, open a separate terminal, source it and run following command(terminal 2) and keep it opened: roslaunch turtlebot3_fake turtlebot3_fake.launch
• Next, run the rrt project using following command(terminal 1): roslaunch tb3_control control.launch
• Find the “Marker” and add a "Marker". Now Rviz should start to listen to the Marker messages published from the control node, and you should see a screen something similar to the attached video.