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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 .

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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.

( 2020-06-09 03:12:00 -0600 )edit

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.

( 2020-09-10 12:15:15 -0600 )edit

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

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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

( 2020-01-03 15:57:30 -0600 )edit
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https://wiki.ros.org/Support

( 2020-01-03 17:57:22 -0600 )edit

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

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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

( 2020-01-03 16:00:50 -0600 )edit

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.

( 2020-01-03 18:00:07 -0600 )edit

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

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