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

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.