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Object Follower Bot

This project implements a robot that follows objects using a camera. The robot is controlled using ROS (Robot Operating System) and Gazebo simulator.

Youtube

Video

Installation

Prerequisites

  • ROS (Kinetic, Melodic, or Noetic)
  • Gazebo
  • OpenCV
  • Python 3

Setup

1. Clone this repository to your catkin workspace:

git clone https://github.com/emirhancibir/object_follower_bot.git

2. Build the package:

cd object_follower_bot
catkin_make

Usage

1. Launch the Gazebo simulator with the provided world and robot model:

roslaunch object_follower_bot gazebo.launch

2. Run the object follower node:

rosrun object_follower_bot follow_bot.py

Description

The follow_bot.py script subscribes to the RGB camera topic to detect objects. It calculates the error between the center of the detected object and the center of the camera frame. Based on this error, it controls the robot's movement to follow the object.

ROS Nodes

follow_bot_node

  • Subscribes to: /camera/rgb/image_raw
  • Publishes to: /cmd_vel

Launch Files

gazebo.launch

Launches Gazebo simulator with a world containing the robot model.

Contributing

Contributions are welcome! Please fork the repository and create a pull request.