Mobile Robot Controller

Application to control mobile robot with 3D vision sensor.

This application was designed to control a Turtlebot with a ROS interface. The application consists of three classes: 1) kinectViewer, 2) closedLoopTurtle, and 3) mobileRobotController.
The main application class is the mobileRobotController, and this class relies on kinectViewer to display 3D sensor data, and closedLoopTurtle to handle the closed loop control of the Turtlebot. The controller is a simple 'P' controller which relies on the wheel encoders of the robot.
You can dynamically switch between simulation and physical hardware via a dropdown menu.