Go Chase IT

The goal of this project is to design and build a mobile robot that is capable of chasing and following the white-colored balls.

Project Setup

First, install Gazebo and ROS on Linux. Then, create a catkin workspace with a src/ directory and initialize the workspace:

$ mkdir -p catkin_ws/src
$ cd catkin_ws/src
$ catkin_init_workspace

Next, download the packages within this repository called 'my_robot' and 'ball_chaser':

$ download Go_Chase_IT.zip package

Then, build the packages:

$ cd ..
`$ catkin_make

To open gazebo with the robot in it:

$ source devel/setup.bash
$ roslaunch my_robot world.launch

Finally, start the ball_chaser nodes in another terminal so that the robot can start following the white ball:

$ roslaunch ball_chaser ball_chaser.launch

Now, when the white ball is moved within view of the front-facing camera on the robot, the robot will begin to chase the white ball.

Directory Structure

Go-Chase-It               `            # Go Chase It Project
    ├── my_robot                       # my_robot package
    │   ├── launch                     # launch folder for launch files
    │   │   ├── robot_description.launch
    │   │   ├── world.launch
    │   ├── meshes                     # meshes folder for sensors
    │   │   ├── hokuyo.dae
    │   ├── urdf                       # urdf folder for xarco files
    │   │   ├── rc_robot.gazebo
    │   │   ├── rc_robot.xacro
    │   ├── world                      # world folder for world files
    │   │   ├── <yourworld>.world
    │   ├── CMakeLists.txt             # compiler instructions
    │   ├── package.xml                # package info
    ├── ball_chaser                    # ball_chaser package
    │   ├── launch                     # launch folder for launch files
    │   │   ├── ball_chaser.launch
    │   ├── src                        # source folder for C++ scripts
    │   │   ├── drive_bot.cpp
    │   │   ├── process_images.cpp
    │   ├── srv                        # service folder for ROS services
    │   │   ├── DriveToTarget.srv
    │   ├── CMakeLists.txt             # compiler instructions
    │   ├── package.xml                # package info
    └──