line_follower_omnidrive

A ROS based repository for a line follower robot

Introduction

This ROS package, line_follower_omnidrive, is developed for controlling a line-following robot with omnidirectional drive capabilities. The robot utilizes computer vision techniques provided by OpenCV to navigate along a predefined path using a simple P-controller(proportional).

Installation

Pre-Requisites:

• ROS noetic : Install ROS Noetic by following the official documentation
• Catkin workspace : Create a catkin_ws by following the official documentation
• OpenCV

  pip install opencv-contrib-python

• Gazebo Classic : Refer to the official Gazebo installation guide

Clone the line_follower_omnidrive package

Clone the following repository in the "src" folder of your catkin workspace

git clone git@github.com:atom-robotics-lab/line_follower_omnidrive.git

Build the catkin workspace

cd ~/catkin_ws
catkin_make

Launch

Launch the Gazebo simulation and start the ROS master

roslaunch line_follower_omnidrive line.launch

Run the CV script(to get camera feed)

rosrun line_follower_omnidrive feedback.py

Run the controller script

rosrun line_follower_omnidrive controller.py

The robot will follow the line based on the computer vision processing.