Teach and Repeat

This package uses the teach and repeat technique to teach a certain path while the operator teleoperating the robot and then repeats the path autonomously. See below how you can test the package.

Dependencies

• Ubuntu;
• ROS Humble

Preparing the package

Create your workspace:

mkdir -p ~/colcon_ws/src

Access the folder:

cd ~/colcon_ws/src

Clone this package:

git clone https://github.com/jardeldyonisio/teach_and_repeat

Compile the package:

colcon build

Steps to test

To teach the path use the following command:

ros2 run freedom_vehicle teach_path_coords.py

To repeat the path using the dot-to-dot method:

ros2 run freedom_vehicle repeat_path_coords.py

To repeat the path using the Bézier curve-based method:

ros2 run freedom_vehicle repeat_bezier_path.py

TODO

• Launch
• Parâmetro para definir o tipo de robô
• Parâmetros de configuração (distância entre rodas e etc)
• Definir se é frame map ou odom (se vai considerar ou não o mapa)