usmahm / ros-go-chase-it

A Go Chase It project done in the Udacity Robotics Course I took.

The goal of the project was to practice new ROS concepts learned. The robot is to be actuated to move in the direction of a white ball once it detects it using the camera sensor attached to it. The process_image node analysis the image data gotten from the camera sensor via the /camera/rgb/image_raw topic it subscribes to. If it detects a white ball in view, it calls the /ball_chaser/command_robot service exposed by the drive_bot node which in turn publishes to the /cmd_vel topic exposed by the wheels to move the robot around.

To run the project,

• Follow this instruction to setup a catkin workspace on your machine

• Copy the folders in this repo to the src folder in the catkin workspace and run catkin_make in the root folder of your workspace.

• Run source devel\setup.bash && roslaunch my_robot world.launch to launch the robot and it's environment

• In another terminal tab run source devel\setup.bash && roslaunch ball_chaser ball_chaser.launch to launch the process_image and drive_bot nodes

• Interact with the environment in gazebo by moving the white ball around the robot

• Below is a demo of the project running

recording.online-video-cutter.com.mp4