Udacity Nanodegree: Robotics Software Engineer

Project 02: Go Chase It!

Directory Structure

.Go_Chase_It                            # Project 02: Go Chase It!
├── ball_chaser                         # ball_chaser package
│   ├── include
│   │   └── ball_chaser
│   ├── launch                          # launch folder for launch files
│   │   └── ball_chaser.launch
│   ├── src                             # source folder for C++ scripts
│   │   ├── drive_bot.cpp
│   │   └── process_image.cpp
│   ├── srv                             # service folder for ROS Services
│   │   └── DriveToTarget.srv
│   ├── CMakeLists.txt                  # compiler instructions
│   └── package.xml                     # package info
├── my_robot
│   ├── launch                          # launch folder for launch files
│   │   ├── robot_description.launch
│   │   └── world.launch
│   ├── meshes                          # meshes folder for sensors
│   │   └── hokuyo.dae
│   ├── urdf                            # urdf folder for xacro files
│   │   ├── my_robot.gazebo
│   │   └── my_robot.xacro
│   ├── worlds                          # world folder for world files
│   │   ├── empty.world
│   │   └── MyWorld.world
│   ├── CMakeLists.txt                  # compiler instructions
│   └── package.xml                     # package info
└── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake

How to run

1. First of all, clone this repo:

git clone https://github.com/milan-r-shah/RoboND_Go_Chase_It.git

2. Launch the robot inside your world

This can be done by launching world.launch file:

$ cd <directory_where_you_have_cloned_the_repo>/RoboND_Go_Chase_It/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ roslaunch my_robot world.launch

3. Run drive_bot and process_image

This can be done by launching ball_chaser.launch file:

$ cd <directory_where_you_have_cloned_the_repo>/RoboND_Go_Chase_It/catkin_ws/
$ source devel/setup.bash
$ roslaunch ball_chaser ball_chaser.launch

4. Visualize

To visualize the robot’s camera images, you can subscribe to camera RGB image topic from RViz. Or you can run the rqt_image_view node:

$ cd <directory_where_you_have_cloned_the_repo>/RoboND_Go_Chase_It/catkin_ws/
$ source devel/setup.bash
$ rosrun rqt_image_view rqt_image_view

Now, put the white ball at different positions in front of the robot to see how robot moves to chase the white ball!