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Driving a skid-steer robot in Gazebo 3D environment to chase any coloured ball with the help of hough circle transformation.

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aaryapatel007/Go_Chase_It_ROS

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Go_Chase_It_ROS

Aim

Driving a skid-steer robot in Gazebo 3D environment interfaced with ROS to chase any coloured ball with the help of hough circle transformation.

Overview

  1. drive_bot:
  • Create a my_robot ROS package to hold your robot, the white ball, and the world.
  • Design a skid-steer robot with the Unified Robot Description Format. Add two sensors to the robot: a lidar and a camera. Add Gazebo plugins for the skid-steer robot, lidar, and camera.
  • House your robot inside the Gazebo 3D environment.
  • Add a white-colored ball to your Gazebo world and save a new copy of this world.
  • The world.launch file will launch the world with the white-colored ball and the robot.
  1. ball_chaser:
  • Create a ball_chaser ROS package to hold your C++ nodes.
  • Write a drive_bot C++ node that will provide a ball_chaser/command_robot service to drive the robot by controlling its linear x and angular z velocities. The service will publish to the wheel joints and return back the requested velocities.
  • Write a process_image C++ node that reads the robot’s camera image, analyzes it to determine the presence and position of a white ball using Hough Circle Transform. If a white ball exists in the image, the node will request a service via a client to drive the robot towards it.
  • The ball_chaser.launch will run both the drive_bot and the process_image nodes.

Prerequisites/Dependencies

Project Description

Directory Structure

.Go_Chase_It_ROS                                   
├── catkin_ws                                  # Catkin workspace
│   ├── src
│   │   ├── ball_chaser                        # ball_chaser package        
│   │   │   ├── launch                         # launch folder for launch files
│   │   │   │   ├── ball_chaser.launch
│   │   │   ├── src                            # source folder for C++ scripts
│   │   │   │   ├── drive_bot.cpp
│   │   │   │   ├── process_images.cpp
│   │   │   ├── srv                            # service folder for ROS services
│   │   │   │   ├── DriveToTarget.srv
│   │   │   ├── CMakeLists.txt                 # compiler instructions
│   │   │   ├── package.xml                    # package info
│   │   ├── my_robot                           # my_robot package        
│   │   │   ├── launch                         # launch folder for launch files   
│   │   │   │   ├── robot_description.launch
│   │   │   │   ├── world.launch
│   │   │   ├── meshes                         # meshes folder for sensors
│   │   │   │   ├── hokuyo.dae
│   │   │   ├── urdf                           # urdf folder for xarco files
│   │   │   │   ├── my_robot.gazebo
│   │   │   │   ├── my_robot.xacro
│   │   │   ├── worlds                         # world folder for world files
│   │   │   │   ├── myworld.world
│   │   │   ├── CMakeLists.txt                 # compiler instructions
│   │   │   ├── package.xml                    # package info
├── video                                     
│   ├── chase_ball.gif                          # video

Run the project

  • Clone this repository under the src folder of your catkin_ws.
  • Open the repository and make
cd /home/workspace/catkin_ws/
catkin_make
  • Launch my_robot in Gazebo to load both the world and plugins
roslaunch my_robot world.launch
  • Launch ball_chaser and process_image nodes
cd /home/workspace/catkin_ws/
source devel/setup.bash
roslaunch ball_chaser ball_chaser.launch
  • Visualize
cd /home/workspace/catkin_ws/
source devel/setup.bash
rosrun rqt_image_view rqt_image_view  

License

This repository is licensed under the terms of the MIT license.

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Driving a skid-steer robot in Gazebo 3D environment to chase any coloured ball with the help of hough circle transformation.

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