miferco97 / ros_follow_line

ROS Seminar

Index

• Overview
• First Steps
• ROS Interfaces
• Troubleshooting
• Acknowledgements
• License

Overview

Programming a Formula 1 on a race track by following a red line in the center of the road with an RGB camera integrated into the F1 model.

First Steps

Clone the repository

mkdir -p $HOME/seminar_ws/src
cd $HOME/seminar_ws/src && git clone https://github.com/pariaspe/ros_follow_line.git

Building

cd ~/seminar_ws && catkin build

Setting up the environment

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$HOME/seminar_ws/src/ros_follow_line/models
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:$HOME/seminar_ws/src/ros_follow_line/worlds

Launching

source $HOME/seminar_ws/src/devel/setup.bash
roslaunch ros_follow_line simple_circuit.launch

Try it!

rostopic pub /F1ROS/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.2"

rosrun rqt_image_view rqt_image_view

ROS Interfaces

Topics

Topic name	ROS msg	Description
/F1ROS/camera/image_raw	sensor_msgs/msg/Image	F1 image publisher
/F1ROS/camera/camera_info	sensor_msgs/msg/CameraInfo	F1 camera info publisher
/F1ROS/odom	nav_msgs/msg/Odometry	F1 odometry publisher
/F1ROS/cmd_vel	geometry_msgs/msg/Twist	F1 commander publisher

Services

Service name	ROS msg	Description
/game_logic/start	std_srvs/srv/Trigger	Start Game Logic
/game_logic/stop	std_srvs/srv/Trigger	Stop Game Logic

Troubleshooting

$  gazebo worlds/simple_circuit.world
[INFO] [1675081776.219252956] [gazebo_ros_node]: ROS was initialized without arguments.
[INFO] [1675081776.342421523] [object_controller]: Subscribed to [/cmd_vel]
[INFO] [1675081776.348074673] [object_controller]: Advertise odometry on [/odom]
[INFO] [1675081776.350898997] [object_controller]: Publishing odom transforms between [odom] and [base_footprint]
gzclient: /usr/include/boost/smart_ptr/shared_ptr.hpp:728: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::rendering::Camera; typename boost::detail::sp_member_access<T>::type = gazebo::rendering::Camera*]: Assertion `px != 0' failed.
[INFO] [1675081778.089864820] [rclcpp]: signal_handler(signum=2)

Fix:

 . /usr/share/gazebo/setup.sh 

Acknowledgements

The idea of the exercise, the models and the worlds files are original from RoboticsAcademy (JdeRobot), where the author is an active maintainer.

License

The source code is released under GPLv3 license.