ChaseIt

ROS simulation of a four wheeled mobile robot with skid steer control following a ball using a camera

Directory Structure

.
├── catkin_ws
│   └── src
│       ├── ball_chaser
│       │   ├── CMakeLists.txt
│       │   ├── launch
│       │   │   └── ball_chaser.launch
│       │   ├── package.xml
│       │   ├── src
│       │   │   ├── drive_bot.cpp
│       │   │   └── process_image.cpp
│       │   └── srv
│       │       └── DriveToTarget.srv
│       ├── CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
│       └── go_chase_it
│           ├── CMakeLists.txt
│           ├── launch
│           │   ├── robot_description.launch
│           │   └── world.launch
│           ├── meshes
│           │   └── hokuyo.dae
│           ├── package.xml
│           ├── urdf
│           │   ├── my_robot.gazebo
│           │   └── my_robot.xacro
│           └── world
│               ├── empty.world
│               ├── myOffice.world
│               └── OfficeWithBall.world
└── README.md

Steps to launch the simulation

Step 1 clone the repository and build it

$ git clone https://github.com/farzingkh/ChaseIt.git
$ cd ChaseIt/catkin_ws
$ source devel/setup.bahs
$ catkin_make

Step 3 Run the robot simulation

$ roslaunch go_chase_it world.launch

Step 4 Run the processing and command nodes

$ roslaunch ball_chaser world.launch

Output