dummy-robot

A 4-wheeled robot simulation built using ROS 2 Jazzy and Gazebo Harmonic.
Includes PID and LQR controllers for camera-based line following and a GUI tool for manual teleoperation.

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Features

• Differential-drive robot with clean URDF model
• Gazebo Harmonic simulation worlds (square and circular tracks)
• Camera-based black-line tracking
• PID and LQR line-following controllers
• GUI teleoperation
• Compact and modular ROS 2 package

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Project Structure

dummy-robot/
├── dummy_robot/        # Python package
├── nodes/              # Controller + GUI nodes
├── urdf/               # Robot description
├── meshes/             # Geometry files
├── worlds/             # Gazebo worlds
├── launch/             # Launch files
├── package.xml
└── setup.py

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Installation

cd ~/ros2_ws/src
git clone https://github.com/pavansai018/dummy-robot.git

Build:

cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

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Launch Simulation

ros2 launch dummy_robot <launch_file>.launch.py

This loads:

• Gazebo Harmonic
• Robot model
• The selected world (square or circular black line)

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Teleoperation

ros2 run dummy_robot teleop_buttons

Manual GUI for testing robot motion.

dummy_teleop.mp4

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Line Following

PID Controller

ros2 run dummy_robot line_follower_pid

GUI version:

ros2 run dummy_robot line_follower_pid_gui

dummy_pid.mp4

LQR Controller

ros2 run dummy_robot line_follower_lqr

dummy_lqr.mp4

Uses camera-based line error + optimal state-feedback control.

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Roadmap

• Improve camera thresholding robustness
• Add support for dynamic lighting changes
• Add RViz visualization
• Add logging and plotting tools

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License

MIT License.

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Author

Pavan Sai Eshwar Chandra
https://github.com/pavansai018