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RBE501 Course Project - Object Tracking using Arm Mounted Camera

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Object Tracking using Arm Mounted Camera

Course Project for RBE501 - Robot Dynamics (Fall 2021)

Master of Science in Robotics Engineering at Worcester Polytechnic Institute

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Simulation

robot_simulation.mov

Project Description

Dependencies

Usage Guidelines

  • To run this project, you will need to clone this repository in your local project folder using the following command:

    git clone https://github.com/ranebhushan/visual_tracking.git
    
  • Copy the contents of /ros folder of this repository to /src of your ROS workspace.

  • Build your ROS workspace using either catkin_make or catkin build (depending on how your workspace was created)

  • Open your ROS workspace in terminal and run the following command:

    source devel/setup.bash
    
  • Launch the Gazebo simulation environment using the following command:

    roslaunch obj_tracking spawn_robot_and_obj.launch
    

    Note: Sometimes, the simulation environment remains paused for some initial number of seconds and once it's normal, the robot moves to it's home position.

  • Once the simulation environment is active, launch the object tracking control node using the following command:

    rosrun obj_tracking node_obj_tracking.py
    

    Now, the robot will start tracking the object.

  • You can move the object by displacing it within the frame of the camera, and then robot will start following the object.

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RBE501 Course Project - Object Tracking using Arm Mounted Camera

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