Robotics_ROS_Ball_Chaser

ROS imlementation of a simple Robot within a Gazebo simulated office. The robot uses a camera to look for a white ball and navigates towards it.

Contains two ROS packages:

1. my_robot: Simple robot consisting of 2 rotation wheels and a caster wheel for movement, a Camera and LiDAR sensor for sensing.

2. ball_chaser: Ball chaser package with 2 nodes implemented in C++:

• drive_bot: Service for commanding robot's movement
• process_image: Subcribes to raw images, detects if a white ball is withing Field of View and drives the bot accordingly.

Usage

Clone this project into your catkin workspace's src directory:

$ cd ~/catkin_ws/src
$ git clone https://github.com/jarix/Robotics_ROS_Ball_Chaser.git

Build project:

$ catkin_make
$ source devel/setup.bash

Launch the Robot world (my_robot, Gazebo, and RViz):

roslaunch my_robot world.launch

Launch the ball chaser node:

roslaunch ball_chaser ball_chaser.launch

Environment

Developed and tested on ROS Kinetic

Screenshots

Office Environment in Gazebo

Robot with 2 wheels and caster, Camera and LiDAR sensors

RViz with Camera and LiDAR views