This project consist of design the robot, house it inside the gazebo world, and program it to chase white-colored ball
drive_bot:
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my_robot ROS package hold robot, the white ball, and the world.
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Robot type is a differential drive, which defined in the Unified Robot Description Format (URDF).
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It has two sensors: a lidar and a camera.
ball_chaser:
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ball_chaser ROS package hold C++ nodes.
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A drive_bot C++ node will provide a ball_chaser/command_robot service to drive the robot by controlling its linear x and angular z velocities.
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The service will publish to the wheel joints and return back the requested velocities.
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A process_image C++ node that reads robot’s camera image, analyzes it to determine the presence and position of a white ball.
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If a white ball exists in the image, node will request a service via a client to drive the robot towards it.
To simulate this project:
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Copy White_Ball_Follower project folder in src folder fo catkin_workspace.
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Run following command in catkin_workspace
$ catkin_make
$ source devel/setup.bash- Launch the world file by running
$ roslaunch my_robot world.launch- Open new terminal
- source it and launch the ball chaser by running
$ roslaunch ball_chaser ball_chaser.launch