Create® 3 Wall Follow
The Create® 3 robot exposes a ROS 21 action server to invoke a wall-following behavior.
You can command the robot to follow along an obstacle using the following ROS 2 action.
ros2 action send_goal /wall_follow irobot_create_msgs/action/WallFollow "{follow_side: 1, max_runtime: {sec: 1, nanosec: 0}}"
When this behavior is requested, the robot will try to engage with nearby obstacles and, after a successful engagement, it will start following the obstacle along the specified side until the maximum runtime is reached.
The follow_side can be specified as left (1) or right (-1) see the action interface for the implementation.
The robot will use a spiraling motion to try to engage with the obstacles.
The spiral will be clockwise if follow_side is left (1) or counter-clockwise if follow_side is right (-1).