jackal-pid

Description

• waypoints_pid.slx moves the Jackal in the Gazebo world along an algebraically defined curve
• waypointspid_error.m calculates and plots the error from the path
• waypointspid_plot.m plots the desired path (as a set of close waypoints) and the actual traveled path

Prerequisites

• ROS Melodic
• Gazebo
• Install Jackal simulation: https://www.clearpathrobotics.com/assets/guides/melodic/jackal/simulation.html

Launch

1. Run

   roslaunch jackal_world empty_world.launch
   

   to spawn the Jackal in Gazebo
2. Run waypoints_pid.slx