This repository contains my solution to the final project of the course "ROS2: Basics in 5 Days" by TheConstruct. The project involves implementing a wall-following behavior for the TurtleBot3 robot, tested in both simulation and real life.
The robot utilizes ROS2 concepts, including:
- Publishers: For controlling the robot's velocity.
- Subscribers: To process sensor data.
- Services: To initialize and reset behavior.
- Actions: For goal-based wall-following tasks.
The goal is to enable the TurtleBot3 to complete a lap in a predefined circuit by following the walls.
The repository includes:
- ROS2 Workspace: The workspace containing the code, launch files, and configuration for the project.
- Video Demonstration: A video showcasing the wall-following behavior in real life.
Watch the real-life test on YouTube
This project is based on the course "ROS2: Basics in 5 Days" by TheConstruct.