Line-Following Task

Conclusion of Basic ROS

• roscpp / rospy
• topic / service / action
• launch (all-in-one)
• ros with opencv (monocular camera)
• youbot control (both arm and moobile base)

Environment Setup

• Environment: Ubuntu 18.04 + ROS Melodic
• Platform: KUKA youBot
• Visual Device: Pointgrey Flea3 camera

Usage

1. Clone the repository to workspace and compile by $ catkin_make

2. Prepare the dependencies:

   • pointgrey_camera_driver
   • camera_calibration
   • image_proc

3. Adjust the filepathes in .../script/follow_line.py and .../script/follow_record.py

4. Launch files:

   roslaunch youbot_driver_ros_interface youbot_driver.launch
   roslaunch find_line youbot_findline.launch
   

5. Follow the hints on the screen

Parameters of launch file

• /image_pub: the result image will be published to topic /camera/find_red_line (true) or directly show with cv::imshow (false)
• /print_red_info: (for debugging) print the information about line detection
• /do_arm_ini、/do_follow_line、/do_back_line、/do_arm_home: enable each task

Result (Image Processing)

• M : Slope
• White px : area of the above part of the path in pixel