ROS_Gazebo_Simulator_with_Opticalflow

Controlling turtlebot with optical flow provided by OpenCV in Gazebo simulator

Setup and Requirements

• Environment : Ubuntu 16.04(VMware) / ROS_kinetic
• ROS packages

1. OpenCV
   Installation command : $ sudo apt install ros-kinetic-opencv*
2. Usb_cam
   Installation command : $ sudo apt install ros-kinetic-usb-cam
Execution command : $ rosrun usb_cam usb_cam_node

Abstract

Subscribing image-messages that Camera node published, define angular and velocity with optical flow that provided in ROS_OpenCV.
With angular and velocity, publish geometry messages being used in controlling turtlebot.
Instead of using turtlebot in real world, I used Gazebo simulator to execute my project.

Results

Moving the book up/down, left/right in screen, turtlebot moves toward the direction equal to book.

Reference

• GitHub - tzutalin/ros_sample_image_transport: ROS Receive and publish different topics about image
• turtlebot_apps/turtlebot_teleop at hydro · turtlebot/turtlebot_apps · GitHub
• https://95mkr.tistory.com/entry/ROS6