About

This project implements a P-controller on a SITL simulation of an ardurover to follow a set of waypoints using ROS.

The simulation can be setup using this link: http://ardupilot.org/dev/docs/rover-sitlmavproxy-tutorial.html

The proportional gain was tuned to prevent rapid changes in the bot's orientation. Below is the video showing the p-controller running on the simulated rover:

Methodology

The below steps needs to be implemented (in order):

1. Set up the SITL simulation of ardurover: http://ardupilot.org/dev/docs/rover-sitlmavproxy-tutorial.html
2. Install ROS, create a ROS workspace and a ROS package
3. Install mavros
4. Run roscore and connect your master ROS to the SITL simulation (via mavros) with this command: roslaunch mavros apm2.launch fcu_url:=udp://localhost:14550@
5. In MAVProxy (command-line based GCS which pops up when you start SITL simulation), enter two commands: 'arm throttle' and 'mode guided' ('arm throttle' turns the motors on and 'mode guided' enables us to control the simulated rover using our code)
6. Run the 'controller.py' file as a ros node