Projekt zaliczeniowy z Niosr Artur Prentki i Stanisław Kuczma
install package https://github.com/ros-drivers/usb_cam.git
install turtle bot for gazebo and export dependecies
sudo apt install ros-humble-turtlebot3*
sudo apt install gazebo
export TURTLEBOT3_MODEL=burger
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH: ros2 pkg \ prefix turtlebot3_gazebo \ /share/turtlebot3_gazebo/models/
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install --packages-up-to robot_control
ros2 launch robot_control robot_control.launch.py| Name | Type | Description |
|---|---|---|
/image_raw |
sensor_msgs::msg::Image | Camera live feed. |
| Name | Type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs::msg::Twist | Robot control signal. |
/point |
geometry_msgs::msg::Point | Center point of aruco cube. |
Launch starts two nodes. /camera_aruco_node checks if there is topic /image_raw available, find aruco tag 7x7x1000 and publishes centerpoint location under /point topic. Second node /robot_control_node takes point coordinates and according to its position sets /cmd_vel in order to move robot (Front, Back, Left, Right) when aruco tag is in the center robot stays idle.
https://chev.me/arucogen/
Aruco tag generator
https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html
ROS website
https://docs.opencv.org/4.x/d5/dae/tutorial_aruco_detection.html
OpenCV library with Aruco tags