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 theprocess_image
anddrive_bot
nodes -
Interact with the environment in gazebo by moving the white ball around the robot
-
Below is a demo of the project running