ROS2 Line Follower

Control a ROS2 differential drive robot to run in a Robotrace course using OpenCV.

Use it on your own robot, or try out the demo using a custom-made simulation on Gazebo.

Installation:

(Requires a ROS2 distribution)

• Clone this repository in your ROS2 workspace
• Build the package (colcon build --symlink-install)

Launching the simulation:

(Requires both gazebo_ros and turtlebot3_gazebo ROS2 packages)

• Set export ROS_DOMAIN_ID=30 #TURTLEBOT3 and export TURTLEBOT3_MODEL=waffle to the environment
• Add follower/models to your $GAZEBO_MODEL_PATH environment variable
• Launch the simulation (ros2 launch follower new_track.launch.py)

Running the line follower node:

(Requires both cv2 and cv_bridge python modules)

• Run the node (ros2 run follower follower_node)
• Start the robot (ros2 service call /start_follower std_srvs/srv/Empty)

Video demo: https://www.youtube.com/watch?v=E3LZQBVdJgE

Please check follower/docs/about.md for more information.

Special thanks to:

• The authors of Programming Robots with ROS: A Practical Introduction to the Robot Operating System (and reference code in https://github.com/osrf/rosbook)
• @ROBOTIS programmers for their work in https://github.com/ROBOTIS-GIT/turtlebot3_simulations, licensed under Apache License 2.0 by ROBOTIS CO., LTD.
• Yapira UFPR Robotics Team for the inspiration and support
• Prof. Eduardo Todt for letting me use this package as the final project of his “Mobile Robotics” course at UFPR.