The goal of this project is to design and build a mobile robot that is capable of chasing and following the white-colored balls.
First, install Gazebo and ROS on Linux. Then, create a catkin workspace with a src/ directory and initialize the workspace:
$ mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ catkin_init_workspace
Next, download the packages within this repository called 'my_robot' and 'ball_chaser':
$ download Go_Chase_IT.zip package
Then, build the packages:
$ cd ..
`$ catkin_make
To open gazebo with the robot in it:
$ source devel/setup.bash
$ roslaunch my_robot world.launch
Finally, start the ball_chaser nodes in another terminal so that the robot can start following the white ball:
$ roslaunch ball_chaser ball_chaser.launch
Now, when the white ball is moved within view of the front-facing camera on the robot, the robot will begin to chase the white ball.
Go-Chase-It ` # Go Chase It Project
├── 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
│ │ ├── rc_robot.gazebo
│ │ ├── rc_robot.xacro
│ ├── world # world folder for world files
│ │ ├── <yourworld>.world
│ ├── CMakeLists.txt # compiler instructions
│ ├── package.xml # package info
├── 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
└──