Gustavo, Hadi, Neil
First run dependent services
$ roscore
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch astra_launch astra_pro.launch
Run cmvision,
$ roscd cmvision
$ rosparam set /cmvision/color_file /home/turtlebot/colors.txt
$ rosrun cmvision cmvision image:=/camera/rgb/image_raw
Run the project using
$ cd ~/catkin_ws/src/where_is_blob/src
$ python color_tracker.py
Our robot is stationary at first. When, we start color_tracker.py
the robot twists continuously until it can find the blob. Our blob is callibrated
using the green board in colors.txt. Once the blob is found, Kuboki
moves towards the blob with a preset velocity. If at any point the blob
isn't found, it twists to look for the blob. If there is an obstacle
it moves to evade it and look for the blob continuously. Once it reaches
the goal it stops.
We conducted several experiments to test the performance of our robot. We will briefly explain the most important experiments below. For the first part, we just tested the robot while there is no obstacle in the way and someone is holding the goal move_to_goal_demo and the goal is attached to the cabinet move_to_goal_demo2.
For the second part in which the robot should avoid the obstacle and then try to find the goal again and move towards the goal, we did 2 experiments. In obstacle_human_demo video, a human’s feet is considered as an obstacle. In this case, the robot can see some parts of the goal from between human legs. In obstacle_box_demo video, the robot can’t see any part of the goal at first, so it tries to move and search for the goal.
The videos are here