Control a two-wheels differential drive robot with a virtual car-like robot
-x while doing a ROS implementation for a wall follower robot, I invented a method to control this two-wheel differential drive robot indirectly by a car-like modleing with steering and throttle rather than linear and angular command that used in two-wheels differential drive
-x the idea is that using a car-like modeling with steering and throttle, it's much more flexibleto optimze and tune the controller
-x when determined steering and throttle (speed) for the car-like robot, we can use kinematic modeling to calculate linear and angular speed needed to send to the two-wheels differential drive robot
-x while applying the control on the car-like robot, we can implement many kind of advances in autonomous driving, for my ROS project I tried with PID, with Stanley, to control cross-track-error and heading-error of my robot
*youtube livestream : https://www.youtube.com/watch?v=h8XQrfBhjpU&ab_channel=BecomingaROSDeveloper
**presentation : https://drive.google.com/file/d/1Go-H_I698mGTNF5yPivYcZZUdz6BSLz5/view
***blog : https://www.nguyenrobot.com/autonomous-driving
##Build
catkin_make --only-package-with-deps find_wall_node
catkin_make --only-package-with-deps odom_record_node
catkin_make --only-package-with-deps follow_wall_node
*dependencies : ROS Noetic, catkin