A servo-arm system with a camera that identifies fire and stabilizes itself to keep the fire at the center of the image as the base of the servo-arm moves and rotates. Utilized: ROS framework, C++, and Python.
Parts:
- https://www.adafruit.com/product/1967
- USB Camera
- Teensy 3.2
This project has two parts. The first part was doing a test run using a simple gimbal. This was functioning. I utilized OPENCV HSV filter and blob detection, then utilized the detection coordinate in the frame, ran it through a gimbal control node that ran a PID that tried to keep the object at the center of the frame. This worked really well. For now, I implemented it for one axis but adding the second one is simple as declaring a second set of classes in the code.
TO RUN:
- make sure to have uploaded the arduino ros code into the teensy 3.2
- roslaunch gimbal_control gimbal_control.launch
- run rviz and then show the images from blob_detector and etc.