ROS Robot OpenCV

• This project has been developed on University of Toronto Robosoccer Team project.

Prerequisites

• Ubuntu 20.04.4 LTS
• ROS
• Python
• OpenCV

Repo

Use the terminal for executing the following commands

cd 
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/Armanasq/ros_robot_opencv.git

Other Repos

• Some users may need to download the following repos to ensure the project run correctly.

• Please note that some/many packages are not available for ROS Noetic so, to solve this problem you can clone each one and try to install them manually.

• To solve the above problem (E: Unable to locate package *** ) I recommend to use the following comand below

sudo apt-get install libgeographic-dev 

cd ~/catkin_ws/src/

git clone -b noetic https://github.com/ros-perception/vision_opencv.git

git clone https://github.com/ros-drivers/four_wheel_steering_msgs.git

git clone https://github.com/ros-controls/urdf_geometry_parser.git

git clone https://github.com/ros-drivers/video_stream_opencv.git

git clone https://github.com/ros-visualization/interactive_marker_twist_server.git

git clone -b noetic-devel https://github.com/cra-ros-pkg/robot_localization.git

git clone https://github.com/ros-teleop/teleop_twist_joy.git

git clone https://github.com/ros-teleop/twist_mux.git

https://github.com/ros-geographic-info/geographic_info.git

git clone https://github.com/ros-geographic-info/unique_identifier.git

git clone https://github.com/ros/common_msgs.git

git clone https://github.com/ros-drivers/four_wheel_steering_msgs.git

git clone https://github.com/ros-controls/ros_control.git

git clone https://github.com/ros-controls/ros_controllers.git

catkin build 

rosdep update

Build Packages

You can build each package with

cd ~/catkin_ws

catkin build Package_Name

source ~/catkin_ws/devel/setup.bash

Updating Dependencies

cd ~/catkin_ws/
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro noetic
sudo apt-get update

Building ROS Robot OpenCV package

First build the project and source the setup file so that the system knows where to look for your build files

cd ~/catkin_ws
catkin build catkin build ros_robot_opencv 
source devel/setup.bash

Launch the robot

roslaunch ros_robot_opencv gazebo.launch 

Commands used during tutorial

useful tip: press tab to auto-complete words as you type commands Open a new terminal to run commands for the robot

Spin the left arm

rostopic pub /left_wheel_controller/command std_msgs/Float64 "data: 1.0" 

Stop from spining

rostopic pub /left_wheel_controller/command std_msgs/Float64 "data: 0.0" 

Control motors

You can edit motor_controller.cpp in ~/catkin_ws/ros_robot_opencv/src

To start communication with robot's motors

rosrun ros_robot_opencv motor_controller

To control the robot's motors and send the commands to them

rostopic pub /motor_commands std_msgs/String "data: 'COMMANDS'" 

You can use the caommands which has been defiend in the motor_controller.cpp

GO
STOP
RIGHT
LEFT
BACK