Engineering Capstone project for Mollie Wild and Evan Greene Spring 2017 Demo available at https://www.youtube.com/watch?v=o86y688Y1Jw
Relevant files:
ROS nodes:
PACKAGE: FILENAME: DESCRIPTION:
line_follower control.py determines necessary new velocity based on
sensor info
line_follower writer.py outputs velocity to USB port in a serial packet
key_teleop key_teleop.py allows teleoperation of the robot via keyboard
apriltag_detector image_mod.py reads from USB camera
apriltag_detector detector.py detects an apriltag and the distance to its center
ROS launch files: PACKAGE: FILENAME: DESCRIPTION: apriltag_detector camera_launch.launch launches apriltag_detector package nodes line_follower motion_launch.launch launches control and writer nodes line_follower writer_launch.launch main launch file, launches all nodes
Other useful files: PACKAGE: FILENAME: DESCRIPTION: apriltag_detector camera_calibration.py calibrate cameras with chessboard None cvk2.py additional opencv functionality None motor_modeling_plotter.py test motor specs None launch_camera.sh bash file to launch apriltag_detector nodes None launch_motors.sh bash file to launch line_follower nodes None launch_ros.sh bash file to launch roscore None launch.sh bash file to launch ROS and all nodes; not complete but intended to allow launch on startup