This was my first experience into the software side of robot control, integrating several behaviors such as teleoperation, square path movement, person following, and a finite state machine (FSM) combining these behaviors.
I implemented the teleoperation and person following behaviors. By using ROS2 nodes to both subscribe to scan data from the robot's onboard LiDAR and publish messages to the /cmd_vel topic, our robot was able to locate the nearest object, adjust its heading, and drive toward it.
Our person follower behavior in simulation software (RViz2) with the green dot representing the center of mass of the person
