Turtlebot tracker

A turtle bot tracker is capable of following a person by tracking different Aruco markers and controlling its speed with Proportional Integral feedback. Its software relies on ROS Melodic and runs on a Turtlebot2. Code is developed for the final project of the course ROB514 "Introduction to Robotics" at OSU.

Setup

To set up the Python version this code relies on, you need to do the following.

cd /home # Go to home directory
sudo mkdir python-envs # Create folder for virtual python environments
cd python_envs # Navigate into folder containing virtual python environments
sudo python3 -m venv ros-melodic # Create python virtual environment
sudo chown -R <your-linux-username> ros-melodic # Makes you the owner of the folder
source ros-melodic/bin/activate # Source the python version in the virtual environment

To install the required python dependencies, run the following.

pip install --upgrade pip  # Upgrade pip
pip install opencv-python  # Install opencv
pip install rospkg         # Install ros packages

For the repo to work properly, you'll need to set up the Turtlebot2 packages for ROS Melodic. Follow the instructions here to set them up.

Now, set up and build our package with the following commands, assuming you have built a catkin workspace as ~/catkin_ws.

cd ~/catkin_ws/src # Navigate to catkin workspace source directory
git clone git@github.com:EverardoG/hot_chocolate.git # Clone the repository
cd .. # Navigate back to catkin_ws
catkin_make # Build all packages
source devel/setup.sh # Source you workspace

Run

To run the package, simply run a roslaunch command of the main.launch file, like so.

roslaunch hot_chocolate main.launch

This will launch the minimal turtlebot launch files as well as run this package's specific scripts.

Contributing

Other contributors are: Everardo Gonzalez

Mentor: Prof Cindy Grimm

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

License

MIT