Wall Follower Bot (ROS 2 Humble – TurtleBot3 Simulation)
This project implements a Wall Follower robot in ROS 2 Humble using the TurtleBot3 platform. The robot moves forward, detects obstacles, and performs precise 90° turns by integrating odometry feedback with timer-based approximations.
The project was first tested in the TurtleBot World simulation and then extended to the more challenging Café World, where careful tuning led to smoother and more reliable navigation.
✨ Features
Custom Python ROS 2 node for autonomous wall following
Odometry + Timer Approximation for precise 90° turns
Laser scan tuning (wider angles & thresholds) for earlier obstacle detection
Real-time sensor data logging for debugging and feedback
Tested in TurtleBot World and Café World simulations
📂 Repository Structure wall_follower_bot/ ├── launch/ # Launch files for simulation ├── src/ # Source code (Python node) │ └── wall_follower.py ├── worlds/ # Gazebo world files (TurtleBot & Café) ├── CMakeLists.txt ├── package.xml └── README.md
📊 Demo
TurtleBot World (Initial Testing): Early trials to test obstacle detection and turning.
Café World (Refined Simulation): Improved performance with tuned thresholds and scan coverage.
🧠 Learnings
Importance of sensor fusion in autonomous navigation
How iteration and tuning improve robustness and adaptability
Practical application of ROS 2 fundamentals: message subscriptions, velocity command publishing, and odometry integration
🔮 Future Work
Integrate IMU for accurate turnings and distance sensor for accurate distance
Extend to real TurtleBot3 hardware testing
Add PID control for smoother wall-following behavior
Incorporate mapping and SLAM for enhanced autonomy