ball Chaser

This ROS package allows a robot to follow a white ball.

This package:

• Creates the node drive_bot with service /ball_chaser/command_robot that receives a \Twist message and publishes velocities to /cmd_vel
• Creates the node process_image that subscribes to /camera/rgb/image_raw. Depending on the position of a white ball, triggers the service /ball_chaser/command_robot and moves the robot left, right or forward (See image below).

Use this package with my robot repository.

Requirements

• ROS Kinetic or up.
• Gazebo 7.16.0 or up.

Running

1. Build the package:

$ catkin_make

2. Source your environment:

$ source devel/setup.bash

3. Run launch file:

roslaunch ball_chaser ball_chaser.launch

How process_image works

De node locates the white ball in the image received as follows: Where located, it will send according velocities.

Meta

• Luis M. - GitHub

Distributed under the MIT License. See LICENSE for more information.

This project was developed for the Robotics software Engineer Nanodegree Program course at Udacity.