ROS 2 PID Node

A proof-of-concept PID controller node built as my Lunabotics onboarding project. Demonstrates ROS 2 publishers, subscribers, and basic control logic.

Features

• Subscribes to /goal (geometry_msgs/PoseStamped)
• Subscribes to /odom (nav_msgs/Odometry)
• Publishes velocity commands on /cmd_vel
• Computes proportional–integral–derivative control on the x-axis

What I Learned

• Writing and understanding ROS 2 Python nodes
• Understanding PID control and feedback loops
• Using publishers, subscribers, and callbacks in rclpy

Run

python3 pid_controller.py