Balancing Car Simulation in Gazebo and Ros(Noetic)

• 
• demo video

English

Control Principles

• Utilize the Gazebo imu plugin in the URDF model to acquire the balance car's orientation.
• Obtain the speed of the two wheels from the /joint_state topic messages, simulating motor encoders.
• Employ a cascade PID control for the speed and upright loops, illustrated in the diagram below:
• The steering loop uses a single-level PID control.

Package Descriptions

• robo includes the balance car model, controller configuration files, and launch files.
• balancing_car_control
  • controller.cpp Contains the control algorithm.
  • sensor.cpp Manages sensor perception.
  • keyboard_cmd.cpp Handles keyboard motion control.

Usage Instructions

1. Compile the project in the root directory of the project: catkin_make
2. Refresh the environment variables: source devel/setup.bash
3. Launch the main system: roslaunch robo car.launch
4. Run the keyboard control node: rosrun balancing_car_control keyboard_cmd

   Key	Function
   w, s	Forward and backward motion
   a, d	Left and right steering
   Space	Stop
   x	Exit the node

5. PID parameters are not optimized yet, but the system is functional.

中文

控制原理

• 在URDF模型中使用gazebo的 imu 插件获取平衡车姿态
• 从 /joint_state 话题消息获取两轮的速度，相当于电机编码器
• 速度环和直立环使用 串级PID 控制，框图如下：
• 转向环只使用单级PID控制

功能包说明

• robo 包含平衡车模型，控制器配置文件和launch文件
• balancing_car_control
  • controller.cpp 控制算法部分
  • sensor.cpp 传感器感知部分
  • keyboard_cmd.cpp 键盘运动控制部分

使用说明

1. 在该工程的根目录编译项目： catkin_make
2. 刷新环境变量： source devel/setup.bash
3. 运行主体： roslaunch robo car.launch
4. 运行键盘控制节点： rosrun balancing_car_control keyboard_cmd

   按键	功能
   w,s	前后运动
   a,d	左右转向
   空格	停车
   x	退出该节点

5. PID参数还未调到最佳，但是也能用