Developed during my REU in Summer 2023, this is my ROS2 implementation of my KDMA code, tested on the TurtleBot4. We attached HTC Vive 2 Trackers to the TurtleBot and goal destinations. We then published location and orientation information using this code. We input this live data of neighbor locations and the goal location into the KDMA policy, and then take the outputs command velocities and publish them to the TurtleBot.
Known issue: Nonfluid movements and imperfections in KDMA Differential Drive Policy
See KDMA Repo here.