Simple ROS robot which chases a white ball. This project is a part of the Udacity Robotics Software engineer nanodegree
If a white ball is within the robot's field of view it checks whether it's in the left, center or right part of the image and moves accordingly. If a white ball isn't within it's field of view it stops moving.
ball_chaser.mp4
Installation requires Ubuntu with ROS installed
Clone this repository then open it in a terminal and run catkin_make.
Then open 3 new terminals and run following commands:
1- Launch the robot inside your world (starts up the simulation in gazebo)
$ cd catkin_ws/
$ source devel/setup.bash
$ roslaunch my_robot world.launch
2- Run drive_bot and process_image (exeutes ball_chaser.launch, which will track the ball and move the robot)
$ cd catkin_ws/
$ source devel/setup.bash
$ roslaunch ball_chaser ball_chaser.launch
3- Visualize (optional, launches the camera view)
$ cd catkin_ws/
$ source devel/setup.bash
$ rosrun rqt_image_view rqt_image_view