A simple robot modelled using URDF and programmed using ROS to move towards any white object that is placed in front of it.
(Note: The speed of the video above is 3x the original speed)
The ROS project consists of 2 packages, my_robot and ball_chaser. The my_robot package contains the robot and world models which can be visualised in the Gazebo simulator when the package is run using the roslaunch command. The ball_chaser package is responsible for detecting and moving towards any white object in front of the robot by reading the feed from the camera attached to the front of the robot.
- drive_bot - Node that provides a service to command the robot wheel joints
- process_image - Node that subscribes to the camera feed topic and calls the service to move the robot when a white ball or object is detected
- Publishing and Subscribing Topics
- /cmd_vel - Topic to publish velocity values to move or turn the robot
- /camera/rgb/image_raw - Topic that the camera images are published to and can be subscribed to read from
- Services
- /ball_chaser/command_robot - Service provided by the drive_bot node to move the robot when requested
ROS Kinetic in Ubuntu 16.04