Object Tracking using Arm Mounted Camera

Course Project for RBE501 - Robot Dynamics (Fall 2021)

Master of Science in Robotics Engineering at Worcester Polytechnic Institute

Team Members

• Bhushan Ashok Rane
• Gaurang Manoj Salvi
• Rutwik Rajesh Bonde
• Yash Rajendra Patil

Simulation

robot_simulation.mov

Project Description

Dependencies

• ROS Distro : Noetic v1.15.13
• OS : Ubuntu 20.04 LTS

Usage Guidelines

• To run this project, you will need to clone this repository in your local project folder using the following command:

  git clone https://github.com/ranebhushan/visual_tracking.git
  

• Copy the contents of /ros folder of this repository to /src of your ROS workspace.

• Build your ROS workspace using either catkin_make or catkin build (depending on how your workspace was created)

• Open your ROS workspace in terminal and run the following command:

  source devel/setup.bash
  

• Launch the Gazebo simulation environment using the following command:

  roslaunch obj_tracking spawn_robot_and_obj.launch
  

  Note: Sometimes, the simulation environment remains paused for some initial number of seconds and once it's normal, the robot moves to it's home position.

• Once the simulation environment is active, launch the object tracking control node using the following command:

  rosrun obj_tracking node_obj_tracking.py
  

  Now, the robot will start tracking the object.

• You can move the object by displacing it within the frame of the camera, and then robot will start following the object.