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Wall Follow Robot using ROS and OpenCV
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atabakhafeez/Wall-Follow-Robot
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/** \mainpage SE Lab Team 7 Team Members - Atabak Hafeez [atabakhafeez] - Maria Ficiu [MariaFiciu] - Rubin Deliallisi [rdeliallisi] - Siddharth Shukla [thunderboltsid] Project Description: A robot developed using ROS that can navigate a maze based on the input from a laser range finder. External Dependencies: - ROS : v1.11.16 (Jade) - OpenCV : v3.1.10 - GoogleTest : v1.7.0 - Doxygen : v1.8.11 Development timeline - Sprint 1: Completed circle detection (Maria, Atabak), Completed random walk (Rubin), Basic wall following - a bit buggy (Rubin), Object detection without OpenCV using analytical methods - Experimental, not merged yet (Siddharth) - Sprint 2: High Level Control (Rubin), Circle Detection (Atabak, Siddharth), HLC & CD Tests (Maria, Rubin, Siddharth), HLC & CD Docs (Maria), System tests (Atabak, Siddharth) - Sprint 3: Code Modularization,Optimization and Cleanup(Rubin), Custom level based Logger(Atabak, Siddharth), Integration and Unit Tests(Atabak, Maria), High Level Control adjustments for real robot(Rubin), Code Documentation(Maria, Siddharth) Setup: - Navigate to your catkin workspace - Run `cd src` - Run `git clone https://github.com/JacobsUniversitySELab2016S/se-lab-team-7.git` - Navigate back to your catkin workspace (`cd ../`) - Run `catkin_make` - Run `source devel/setup.bash` or `source devel/setup.zsh` or `source devel/setup.sh` depending on your shell - Run `roslaunch robot simulator.launch world_name:=easy [--screen]` - Run `roslaunch robot simulator.launch world_name:=medium [--screen]` - Run `roslaunch robot simulator.launch world_name:=hard [--screen]` - The --screen option serves to view the logging output on the screen Tests: - Navigate to your catkin workspace - Run `catkin_make` - Run `source devel/setup.bash` or `source devel/setup.zsh` or `source devel/setup.sh` depending on your shell - Run `catkin_make run_tests` to execute test cases including system tests (i.e. individual levels) Generate Documentation: - Navigate to the git project root - Run `doxygen Doxyfile` to generate documentation Logger Usage: - The Logger might be used in case logging levels are needed. Right now ROS_INFO is enough for our purposes. - `Logger::Instance().Log("message", Logger::log_level_debug);` - `Logger::Instance().Log("message", Logger::log_level_info);` - `Logger::Instance().Log("message", Logger::log_level_error);` */
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