Wheeled Invert Pendulum Project , ROS2-Gazebo

wip model

• This model has two wheels links and a haed link.
• Imu sensor integrated into head link.
• Wheels can be controlled by effort controller of ROS2 control.
• PID controller is used to keep wip balance with IMU sensor data.

gazebo simulation

without balance controller

wip can't stand without balance controller. wip fall down after about 2 seconds started simulation.

without_control.mp4

with balance controller

wip can stand with balance controller.

with_control.mp4

launch file

• pkg : bringup

• file : start_process.launch.py

Environment

• Ubuntu 22.04
• ROS2 Humble

What to do next

• change control method from PID to LQR
• change control method from PID to I-PD to check date-orientate-PID-method
• control wip model via DuakSchock4