Implement P controller for Limo robot navigation#5
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ryanrahman27 wants to merge 2 commits intoCL2-UWaterloo:mainfrom
Open
Implement P controller for Limo robot navigation#5ryanrahman27 wants to merge 2 commits intoCL2-UWaterloo:mainfrom
ryanrahman27 wants to merge 2 commits intoCL2-UWaterloo:mainfrom
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ryanrahman27
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Sep 25, 2025
ryanrahman27
commented
- Added P controller C++ implementation in limo_control package
- Created launch files for simulation + controller integration
- Added headless launch files for local macOS compatibility (Gazebo GUI was not working on local machine)
- Updated app.sh for automatic task execution
- Added test scripts and documentation
- Completed assignment requirements: controller, launch files, automation
- Add P controller C++ implementation in limo_control package - Create launch files for simulation + controller integration - Add headless launch files for macOS compatibility - Update app.sh for automatic task execution - Add test scripts and documentation - Complete assignment requirements: controller, launch files, automation
…ases - Refactored p_controller.cpp to use two-stage approach: * Stage 1: Turn-in-place with zero linear velocity until aligned * Stage 2: Drive-to-goal with orientation trimming - Added new parameters: * kp_angular_trim: smaller gain for orientation corrections during driving * angular_tolerance: threshold (0.05 rad) for phase switching - Added in_drive_phase flag to track controller state - Improved logging to show phase transitions - Created comprehensive documentation: * CONTROLLER_IMPROVEMENTS.md: technical implementation details * STAGED_CONTROLLER_VERIFICATION.md: performance verification report - Added visualization script (plot_staged_controller.py) to analyze: * XY trajectory showing turn-then-drive behavior * Velocity profiles demonstrating zero linear velocity during turn * Error convergence with clear phase transition - Performance verified: 1.2s turn-in-place, 6.9s drive-to-goal - Addresses feedback on cross-track error reduction and predictable trajectories
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