Traffic Cone Finder and Cone Seeker code for RoboMagellan

ROS

Build the ROS Code:

• cd ~/catkin_ws, assuming the typical ROS install.
• catkin_make

Cone Seeker

This ros node will use the messages published by cone_finder node and publish mavros/rc/override messages for throttle and steering. To use this node:

• roslaunch cone_finder cone_seeker.launch|cone_seeker_video.launch

• Use cone_seeker.launch to run this node without video

• Use cone_seeker_video.launch to run this node with video

Both launch files will invoke cone_finder node.

Cone Finder

This ros node will detect cones in images published by realsense_camera node or a video feed or images in a directory. To run as ROS node, use:

• roslaunch cone_finder cone_finder.launch|cone_finder_video.launch

• Use cone_finder.launch to run this node without publishing image topics

• Use cone_finder_video.launch to run this node and publish image topics

The launch files will start the realsense_camera node automatically.

Alternatively, use:

• rosrun cone_finder detect_cones.py [-d] [r] [-p]

• -d/--debug is optional and will show real time video with cones marked

• -r/--use_ros_topic to use published topics from realsense_camera node

• -p/--publish_images to control published rgbImage and depthImage topics

Topic published: * /cone_finder/locations * /cone_finder/rgbImage * /cone_finder/depthImage

• See cone_finder/msg/locations_msg.msg for details

License

• Repository License