TurtleBot3 Figure-Eight Controller Features Autonomous figure-eight path follower Continous path mapping , always returns to same path if placed anywhere else Manual keyboard control mode ( velocity , direction ) Real-time velocity publishing to /cmd_vel Works with TurtleBot3 Waffle and Waffle Pi models Requirements ROS2 Humble Gazebo classic Getting Started 1. Clone this repository and open directory cd ~/turtlebot3_ws 2. Build the package colcon build 3. Source the workspace source install/setup.bash source /opt/ros/humble/setup.bash source ~/turtlebot3_ws/install/setup.bash 4. Launch the robot in Gazebo export TURTLEBOT3_MODEL=waffle ros2 launch turtlebot3_gazebo empty_world.launch.py 5. Run our figure_eight_controller Open a new terminal: (Keep this terminal window open along with gazebo) ros2 run my_turtlebot3_control figure_eight_controller https://youtu.be/bYBqdi3iudY