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Turtlebot obstacles

asked 2012-05-06 09:40:55 -0600

ZeroCool gravatar image

I would like to make my turtlebot navigate (by itself) through a room (where i give him the destination). The current solution builds a map using gmapping and then I use rviz to give it a destination on the map.

It works but now i would like to add sticky notes (of different colors) on obstacles.

Turtlebot has to detect the sticky note (from point cloud) and move itself in the right direction (based on color. For example if the sticky note is red it should go to the right, if it is green it should go to the left).

Which packages can we use? Any recommendations?

I'm a beginner with ROS and I would appreciate a point in the right direction.

Thanks.

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do you need to navigate by color or would some other form of identifier be okay? like http://ros.org/wiki/ar_pose

mmwise gravatar imagemmwise ( 2012-05-06 21:23:58 -0600 )edit

We need to navigate by color.

ZeroCool gravatar imageZeroCool ( 2012-05-06 23:59:43 -0600 )edit

I suggest you to go with the ar_pose as indicated by mwise_wg. Doing it with color may have many distortions because of the environment and it must be ideal environment.

karthik gravatar imagekarthik ( 2012-05-07 17:29:46 -0600 )edit

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answered 2012-05-07 05:29:55 -0600

Dustin gravatar image

updated 2012-05-07 05:30:41 -0600

OpenCV would be a worthy tool for this job. It packages a lot of image processing algorithms into one library and supports a wide variety of cameras. I haven't personally used it with ROS but my experience on other projects has been good.

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answered 2012-06-22 03:16:49 -0600

JET gravatar image

Im trying to do the same thing. Use gmapping to build the map and then set a destination for the turtlebot to navigate to. But were having problems with our kinect. It doesnt seem to be outputting any data on rviz. Can you shed some light on your process of getting the gmapping working and giving the turtlebot a destination? Thank you!!

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Asked: 2012-05-06 09:40:55 -0600

Seen: 596 times

Last updated: Jun 22 '12