This repository provides a record of the development progress of Heron, and it is built upon the repository created by @tonybaltovski .
Several Python codes have been developed that interact with the robot's topics, implementing a manual control mode of the boat as well as a path tracking model based on pure pursuit.
First, you need to run the command roslaunch heron_gazebo heron_world.launch
to launch the boat with Gazebo and ROS.
Afterward, you have to execute python control.py
to access manual and automatic control of the developed boat.