ntuyo / cosi119linefollower

cosi119linefollower

By Nazari Tuyo

The Code

The line follower code works as following:

1. the init method:

• creates the bridge, which helps establish / simplify computer vision (from the camera) for the node
• creates a subscriber and publisher for image_raw/compressed and cmd_vel respectively

2. the image callback method:

• this gets the image from the camera, storing it in an variable called 'image'
• using cv2, the non-yellow colors in the frame are cut out
• the remaining is masked out, so only yellow is visible
• then a red circle is placed on the center of the line so the follower can continue moving

Video

https://youtu.be/6AtyMqxzt1I