ROS 2 | TurtleBot3 Wall Following [Tutorial]

This video demonstrates wall following of a TurtleBot3 (a differential-drive robot) in Gazebo Simulator using Robot Operating System 2 (ROS 2).

Controller makes the robot follow walls by maintaining equal distance from them. The robot makes use of de-coupled longitudinal and lateral PID controllers (with FIFO integral anti-windup mechanism) acting on frontal distance to collision and relative distance from walls respectively for motion control. A simple finite state machine is implemented to account for inf scan measurements beyond LIDAR maximum range. The script is setup to wait 4 seconds for simulation to initialize properly and then run for eternity to demonstrate dynamically variable wall following application.

GitHub Repository: https://github.com/Tinker-Twins/Auton...
TurtleBot3 Packages: https://github.com/Tinker-Twins/Turtl...
ROS 2 Installation: ROS 2 | ROS 2 Foxy Installation [Tuto...

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Specifications:
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OS:           Ubuntu 20.04
ROS 2:      ROS 2 Foxy