Robotics Course Workspace

Final Grade: 18.3

This is a simple project where 2 robots, a Host and a Guest, follow a wall on their right. The Host, which leads the way, must stop if the Guest is too far away, only resuming movement when it gets closer to it.

• src/wall_follow_bot — Main source tree containing the ROS2 package and packaging files:
  • launch/ — Contains the launch.py file which is executed when the program is ran. It initializes webots, the world and all the nodes that will be ran.
  • resource/ — Non-code resources shipped with the package: URDFs and YAML configs.
  • test/ — Tests and lint-check files (not really used).
  • wall_follow_bot/ — The Python package with node implementations and helpers — contains modules like GuestController.py, HostController.py, Controller.py, PID.py, etc.
  • worlds/ — Webots world files used for simulation (.wbt, .wbproj, etc.).
  • package.xml — ROS2 package manifest (name and runtime/build dependencies used by rosdep/colcon).
  • setup.py — Python packaging config used by colcon for installing and registering entry points (console scripts, data files).
  • setup.cfg — Optional packaging/configuration options.

To run this project, you need:

• Python version at least 3.xx
• ROS2 Kilted Kaiju
• Webots version R2025b

We created a simple shell script to help with building and execution, just run:

./run.sh

This cleans previous builds, builds the packages, sources the workspace, and finally launches the application.

• João Miguel Vieira Cardoso (up202108732)
• João Miguel da Silva Lourenço (up202108863)
• João das Neves Fernandes (up202108867)
• Tiago Ribeiro de Sá Cruz (up202108810)