Robot Controller with GUI

This project integrates a camera feed with ROS2 to detect ArUco markers and control a TurtleBot3 robot within a Gazebo simulation. The system allows real-time robot movement based on marker detection and user interactions via the camera feed.

Prerequisites

• ROS2 Humble installed on a Linux system.
• TurtleBot3 and Gazebo simulation packages.
• Image Tools package for camera utilities.
• Python dependencies:
  • OpenCV
  • NumPy
  • cv_bridge

Running the Project

Terminal 1: Start the Camera Stream

source install/setup.bash
ros2 run image_tools cam2image --ros-args -r image:=/camera/image_raw

Terminal 2: Launch the ArUco Detection Node

ros2 run camera_subscriber camera_node

To set the square size parameter:

ros2 run camera_subscriber camera_node --ros-args -p square_size:=10

Terminal 3: Set Environment Variables for TurtleBot3 and Gazebo

export TURTLEBOT3_MODEL=burger
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:`ros2 pkg \
prefix turtlebot3_gazebo \
`/share/turtlebot3_gazebo/models/

Launch the Gazebo Simulation

ros2 launch turtlebot3_gazebo empty_world.launch.py

Terminal 4: Run Motion Control Nodes

ros2 run camera_subscriber point_motion_node

Screens