ROBOTIC OPERATING SYSTEMS
Project
Self Balancing Robot using ROS in Gazebo
21AIE213
ROBOTIC OPERATING SYSTEMS
Team Members
Anirudh Edpuganti CB.EN.U4.AIE20005 Pillalamarri Akshaya CB.EN.U4.AIE20049
21AIE213
ROBOTIC OPERATING SYSTEMS
An extension to PMS
21AIE213
Contents
Contents
- Recap
Contents
- Recap
- Import of structures
Contents
- Recap
- Import of structures
- Xacro File
Contents
- Recap
- Import of structures
- Xacro File
- Publisher and Subscribers
Contents
- Recap
- Import of structures
- Xacro File
- Publisher and Subscribers
- Simulation
Explorations
Explorations
- Concept of PID Controller
Explorations
- Concept of PID Controller
- ROS Basics
Explorations
- Concept of PID Controller
- ROS Basics
- Usage of Xacro
RECAP
RECAP
MPU 6050
RECAP
Propotional Integral Derivative(PID) Controller
Propotional Integral Derivative(PID) Controller
Plant
Controlled Variable
Actuating Signal
Propotional Integral Derivative(PID) Controller
Plant
Controlled Variable
Actuating Signal
Command Variable
Propotional Integral Derivative(PID) Controller
Plant
Controlled Variable
Actuating Signal
Feedback path
Command Variable
Propotional Integral Derivative(PID) Controller
Plant
Controlled Variable
Actuating Signal
Feedback path
Error term
Command Variable
Propotional Integral Derivative(PID) Controller
Controller
Plant
Controlled Variable
Actuating Signal
Feedback path
Error term
Command Variable
Propotional Integral Derivative(PID) Controller
Controller
Propotional
Propotional Integral Derivative(PID) Controller
Propotional
Integral
Controller
Propotional Integral Derivative(PID) Controller
Propotional
Integral
Derivative
Controller
Propotional Integral Derivative(PID) Controller
Mind
Human
Distance travelled
Speed
Feedback path
Error term
Distance to travel
RECAP
Other Unrelated Stuff
Structures
Structures
Structures
Structures
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Xacro Code
Publisher & Subscriber
Publisher & Subscriber
/SelfBalance
Publisher & Subscriber
/SelfBalance
Text
/Kp
/Ki
/Kd
/imu
Publisher & Subscriber
/SelfBalance
Text
/Kp
/Ki
/Kd
/imu
Publisher & Subscriber
/SelfBalance
Text
/yaw
/cmd_vel
Publisher & Subscriber
/SelfBalance
Text
/yaw
/cmd_vel
Publisher & Subscriber
/SelfBalance
Text
/yaw
/cmd_vel
/gazebo
Publisher & Subscriber
/SelfBalance
Text
/yaw
/cmd_vel
/gazebo
/imu
Publisher & Subscriber
/SelfBalance
Text
/yaw
/cmd_vel
/gazebo
/imu
Publisher & Subscriber
Text
Live Demo
+
Quick capture of what we did (1 min)
Thank You Sir
ROS Sem-4
By Incredeble us
