This is a ROS2 package that offers a node (follower_node) used to have a differential drive robot run a Robotrace course, by using a camera and an implemented P controller. The rules of the course and the methods to run in it can be found at ntf.or.jp.
The package also gives the user tools to simulate the follower_node in a Gazebo world using a Robotrace track model and a modified version of the Turtlebot 3 Waffle Pi, copyrights ROBOTIS CO., LTD, licensed under the Apache License 2.0.
This package is licensed under the MIT License by Gabriel Nascarella Hishida do Nascimento.
In order to run the simulations, the user may find installation and execution insctructions in the README file. The user can call the ROS2 services /start_follower and /stop_follower to operate the robot.
If the user wants to run the node on a different robot, it is going to be necessary to edit some (if not all) of the user-defined parameters in follower/follower_node.py. Check the parameters guide at parameters.
Beware! There are some known issues. Check out the warnings file.