A repo to compare the PD and adaptive controller using turtlebot3 in gazebo.

export TURTLEBOT3_MODEL="waffle_pi"
roslaunch turtlebot3_gazebo gazebo.launch

export TURTLEBOT3_MODEL="waffle_pi"
roslaunch turtlebot3_gazebo arena.launch

export TURTLEBOT3_MODEL="waffle_pi"
roslaunch turtlebot3_example multi_turtlebot3.launch

roscd turtlebot3_gazebo/scripts
python pid.py

OR

roscd turtlebot3_gazebo/scripts
python adaptive.py

1. arena is custom world having 2 different surface of different friction.
   URDF file is in turtlebot3_gazebo\urdf\arena.urdf.xacro
   Friction property is turtlebot3\urdf\arena.gazebo.xacro \

2. The infinity shape path is used. To reduce cost of "Search Target Index" a local short path has been used which is small slice of global path.

3. "dt" in PD controller is just a constant value. Instead os using "current_time - previous_time", give a constant value to it.