brolina / object_chaser

The repo contains a custom simulation environment and a custom mobile robot design for simuation purpose in gazebo.

Object_chaser Package

The package contains a Mobile robot model created using solid works and housed in a custom made simulation environment. The robot model also contain a RBG camera and a Laser Range Finder to perceive its environment

Requirement

• Gaezebo (Version 7 preferable). You can find help for installing gazebo and other related packages here
• ROS Kinetic Kame or higher

Working with this package

You can download the package by typing the following command in your terminal

$ mkdir object_chaser
$ cd object_chaser
$ git init
$ git clone https://github.com/brolinA/Object_chaser.git

You can download only the custom simulation environment from here

robot_model directory

This package contains the robot model and the simulation environment along with the required gazebo plug-in so that you can use this environment for you own projects.

Launch the world using

`roslaunch robot_model world.launch`

Some useful links

• Differential drive plug-in
• Camera plug-in

ball_chaser directory

This package is used to drive the mobile robot using the Request-Response architecture rather than the usual Pub-Sub architecture.

Whenever a new message arrive at the camera topic the callback image_process_callback is invoked. This callback process the image to look for white pixles. Depending on where the pixel lies in the image i.e, left,right or in the center, a service call is made to the service named /command_robot. This service drives the robot with the desired velocities requested by the service call.