utra-robosoccer / Computer-Vision-Tutorial

Computer Vision Tutorial

Computer Vision Tutorial

• The publisher/subscriber and OpenCV portion is based on this ROS tutorial

Prerequisites

• Install Ubuntu in Virtual Machine or Dual boot (Ubuntu 20 preferred)
• Install ROS (ROS Noetic preferred)

Cloning the repo

Go to home directory if you're not already there

cd ~

Run following commands

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/utra-robosoccer/Computer-Vision-Tutorial.git

Updating Dependencies

The following commands will look inside package.xml and install opencv for you

cd ~/catkin_ws/
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro noetic

Building tutorial package

Sourcing setup file lets your computer know where your project files are

cd ~/catkin_ws
catkin build computer_vision_pkg
source devel/setup.bash

Launch the robot

roslaunch computer_vision_pkg gazebo.launch

Commands used during tutorial

useful tip: press tab to auto-complete words as you type commands

To run motor controller node, open new terminal

cd ~/catkin_ws
source devel/setup.bash
rosrun computer_vision_pkg motor_controller

To run planner node, go to /src folder

python3 planner.py

To send a command to the left wheel

rostopic pub /left_wheel_controller/command std_msgs/Float64 "data: 1.0"

To send a command to the motor controller

rostopic pub /motor_commands std_msgs/String "data: 'LEFT'"

To see the ROS node tree run this command

rqt_graph