visual_servo

We use visp_ros and gazebo to complete an visual servo simulation The development environment used for this project is Ubuntu 18.04 + ROS Melodic + Visp_ros + Gazebo

1.Install

Firstly, you need install ROS and create the workspace.
How to install ROS on Ubuntu: http://wiki.ros.org/melodic/Installation/Ubuntu
How to create a ROS workspace: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

sudo apt-get install libvisp-dev
sudo apt-get install ros-melodic-visp
sudo apt-get install ros-melodic-vision-visp

You can also install ViSP, Visp_ros and vision_visp from source for Ubuntu. The tutorial of installation is here:
ViSP: https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-ubuntu.html
Visp_ros: http://wiki.ros.org/visp_ros/Tutorials/Howto_install_visp_ros
vision_visp: http://wiki.ros.org/vision_visp

2. Download the project file

cd ~/catkin_ws/src
git clone git://github.com/EmptyCity1995/visual_servo.git
catkin_make
source ./devel/setup.bash

3. Create a target model

cd ~/catkin_ws/src/visual_servo/ar_tags/scripts
./generate_markers_model.py -i ../images/

4. Run gazebo and add the pionner3dx model

roslaunch visual_servo gazebo_pioneer_amcl.launch

5. Insert the target model in the gazebo simulation environment

This is shown in the following picture

6.Compile and run the visual servo program

cd ~/catkin_ws/src/visual_servo/src/
mkdir -p build
cd build
cmake ..
make 
./tutorial-ros-pioneer-visual-servo

EmptyCity1995/visual_servo