# how to create a circular trajectory for turtlebot 3

hey everyone.

i want to create a Gazebo simulation where turtlebot3 following a circular trajectory .

please help .

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how to create a circular trajectory for turtlebot 3

hey everyone.

i want to create a Gazebo simulation where turtlebot3 following a circular trajectory .

please help .

1

Drive with an constant angular speed an you bot is driving a circular triactory

thank you for your reply
but this is not the answer i looking for !
i need to create a reference circular path with a pre-defined radius R with :
**x(t) = R * SIN( 2 * PI * t / dt)
y(t) = -R * COS( 2 * PI * t / dt)**
then drive the turtlebot along with this trajectory

1

@alaaeddine These answers answer your question. Your question looks a lot like an assignment that you are asking others to do for you. If you need help figuring out how something works please ask your question but it's inappropriate to ask others to solve the problem for you.

0

Since you are using turtlebot3 I assume you have installed turtlebot3_simulations package. This package has turtlebot3_gazebo package with the launch file turtlebot3_house.launch or turtlebot3_empty_world.launch. chapter 11 of the turtlebot3 manual has a goot example.

The just publish a cmd_vel topic with linear velocity = 0 and angular velocity = 1.57 or maybe -1.57 using rostopic like this

```
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 1.57}}'
```

you probably need to play with what angular velocity value to use. if you use a linear velocity as well you will get a spiral

thank you for your reply but this is not the answer i looking for ! i need to create a reference circular path with a pre-defined radius R with : x(t) = R * SIN( 2 * PI * t / dt) y(t) = -R * COS( 2 * PI * t / dt) then drive the turtlebot along with this trajectory

The method is helpful but the values are not quite correct.

With a constant angular velocity: A zero linear velocity will cause it to spin in place. A constant linear velocity will cause it to drive in a circle. An increasing linear velocity will spiral outward A decreasing linear velocity will spiral inward.

0

I found an amazing video for this - you can have a look at - https://youtu.be/2WBDRbYmE7A

Asked: ** 2019-12-31 10:18:13 -0600 **

Seen: **1,656 times**

Last updated: **Jan 04 '20**

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hey, did you find what you were looking for? i am working on the same project, it'd be great if you can help.

sorry for late the response , if you still don't know how to implemented you can follow this GitHub repository https://github.com/alla-eddine/trajec... i hope you will find it helpful . salam.