Mobile Robots - Build & Run Commands

Report

Start Docker Container

docker compose up -d

Build Workspace

docker exec ros-noetic-workspace bash -c "cd /workspace && source /opt/ros/noetic/setup.bash && catkin_make"

Run Nodes

There are two ways to run the simulation, depending on your use case:

Setup 1: Manual Control with Test Node

This setup launches the simulator with a test node for manual control via ROS service calls. Use this for testing and manually commanding the robot.

Single Terminal:

docker exec ros-noetic-workspace bash -c "source /workspace/devel/setup.bash && roslaunch turtlebot_simulator simulator.launch"

This launches:

• turtlebot_simulator - The robot simulator
• test_node - Manual command node (responds to service calls)
• rosbag_recorder - Records simulation data

To send manual commands:

# Set velocity command
rosservice call /add_step "parameter: 'v_cmd'
step_value: 1.0"

# Set angular velocity command
rosservice call /add_step "parameter: 'omega_cmd'
step_value: 0.1"

Setup 2: Autonomous Trajectory Tracking

This setup runs the simulator with an autonomous trajectory controller that makes the robot follow a figure-8 path.

Terminal 1 - Start Simulator Only:

docker exec ros-noetic-workspace bash -c "source /workspace/devel/setup.bash && roslaunch turtlebot_simulator simulator.launch"

Terminal 2 - Start Trajectory Controller:

docker exec ros-noetic-workspace bash -c "source /workspace/devel/setup.bash && roslaunch turtlebot_traj_ctrl trajectory_controller.launch"

This configuration launches:

• turtlebot_simulator - The robot simulator (Terminal 1)
• test_node - Manual control (Terminal 1, but inactive)
• trajectory_controller - Autonomous trajectory tracking controller (Terminal 2)
• rosbag_recorder - Records simulation data (Terminal 1)

Note: Both test_node and trajectory_controller publish to the same /control_commands topic. The trajectory controller will override any manual commands when active.

Interactive Shell (Optional)

docker exec -it ros-noetic-workspace bash
source /workspace/devel/setup.bash

Plot Simulation Results

After running the simulation, plot the recorded data:

python3 plot_rosbag.py --latest

Simulation Results

Trajectory Animation

The animation shows the robot (black circle) following the reference trajectory in real-time.

Detailed Plots

The plots show:

• 2D trajectory tracking (actual vs reference)
• X and Y position tracking over time
• Angular velocity
• Linear and angular velocity commands

Stop Container

docker compose down