Make a robot autonomously drive down simulated wall rows, using RANSAC line detection, an Extended Kalman Filter for tracking, and a PID controller for driving.
This is the original testing code for an autonomous vineyard navigation pipeline. The first node in that pipeline is here.
Eventually, I may update this repository with testing in simulated vine rows.
rosrun pid_controller wall_controller [P_gain] [I_gain] [D_gain]
If you run into any problems when compiling or executing, or you have any questions, please contact me: aaronzberger@gmail.com