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Controller Node
Oshadha Gunasekara edited this page Sep 14, 2019
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Run rosrun controller controller_node
/amcl_pose, PoseWithCovarianceStamped
/odom, Odometry
/wheel_vel, Float64
/ch3, UInt16
/steering_angle, Float64
The controller node is the primary control scheme on BabyBuggy. It relies on getting a pose estimate in some global world frame, which in this case is the map frame given from /amcl_pose. Further, internally, the node contains a list of waypoints that it aims to reach. To do so, it calculates a steering angle using a method known as Pure Pursuit, which you can read more about here. This steering angle is published to /steering_angle, which is used by another node to directly control the linear actuator.