Line Follower - Not Following!

asked 2021-02-03 00:22:32 -0500

gup_08 gravatar image

updated 2021-02-03 13:13:44 -0500

Hi! I am trying to adapt this following code to a Leo Rover that has a color camera and will follow a blue line by filtering and finding the centroid with OpenCV. When I run follow_line_step_hsv.py, I get nothing but a blinking cursor. The Rover does not move and I can't seem to find the reason.

The first scrip Move_Robot.PY seems to work and is as follows:

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist

class MoveKobuki(object):

def __init__(self):

    self.cmd_vel_pub = rospy.Publisher("cmd_vel", Twist, queue_size=1)
    self.cmd_vel_subs = rospy.Subscriber("cmd_vel", Twist, self.cmdvel_callback)
    self.last_cmdvel_command = Twist()
    self._cmdvel_pub_rate = rospy.Rate(10)
    self.shutdown_detected = False

def cmdvel_callback(self, msg):
    self.last_cmdvel_command = msg

def compare_twist_commands(self, twist1, twist2):
    LX = twist1.linear.x == twist2.linear.x
    LY = twist1.linear.y == twist2.linear.y
    LZ = twist1.linear.z == twist2.linear.z
    AX = twist1.angular.x == twist2.angular.x
    AY = twist1.angular.y == twist2.angular.y
    AZ = twist1.angular.z == twist2.angular.z
    equal = LX and LY and LZ and AX and AY and AZ
    if not equal:
        rospy.logwarn("The current Twist is not the same as the one sent, Resending")
    return equal

def move_robot(self, twist_object):
    # We make this to avoid Topic loss, specially at the start
    current_equal_to_new = False 
    while (not(current_equal_to_new) and not(self.shutdown_detected) ):
        self.cmd_vel_pub.publish(twist_object)
        self._cmdvel_pub_rate.sleep()
        current_equal_to_new = self.compare_twist_commands(twist1=self.last_cmdvel_command, twist2=twist_object)

def clean_class(self):
    # Stop Robot
    twist_object = Twist()
    twist_object.angular.z = 0.0
    self.move_robot(twist_object)
    self.shutdown_detected = True

 def main():
  rospy.init_node('move_robot_node', anonymous=True)

movekobuki_object = MoveKobuki()
twist_object = Twist()
# Make it start turning
twist_object.angular.z = 0.5

rate = rospy.Rate(5)

ctrl_c = False

def shutdownhook():
    # Works better than the rospy.is_shut_down()
    movekobuki_object.clean_class()
    rospy.loginfo("Shutdown Time!")
    ctrl_c = True

rospy.on_shutdown(shutdownhook)

while not ctrl_c:
    movekobuki_object.move_robot(twist_object)
    rate.sleep()

if __name__ == '__main__':
    main()

And the second part Follow_line_step_hsv.py (converts image to OpenCV to find centroid)

  #!/usr/bin/env python

  import rospy
  import cv2
  import numpy as np
  from cv_bridge import CvBridge, CvBridgeError
  from geometry_msgs.msg import Twist
  from sensor_msgs.msg import Image
  from move_robot import MoveKobuki


  class LineFollower(object):

def __init__(self):

    self.bridge_object = CvBridge()
    self.image_sub = rospy.Subscriber("/camera/image_raw",Image,self.camera_callback)
    self.movekobuki_object = MoveKobuki()

def camera_callback(self,data):

    try:
        # We select bgr8 because its the OpenCV encoding by default
        cv_image = self.bridge_object.imgmsg_to_cv2(data, desired_encoding="passthrough")
    except CvBridgeError as e:
        print(e)

    # We get image dimensions and crop the parts of the image we dont need
    # Bare in mind that because its image matrix firt value is start and second value is down limit.
    # Select the limits so that it gets the line not too close, not too far and the minimum portion possible
    # To make process faster.

    height, width, channels = cv_image.shape
    descentre = 0
    rows_to_watch = 200
    crop_img = cv_image[(height)/2+descentre:(height)/2+(descentre+rows_to_watch)][1:width]

    # Convert from RGB to HSV
    hsv = cv2.cvtColor(crop_img, cv2.COLOR_BGR2HSV)

    # Threshold the HSV image to get only ...
(more)
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Comments

Firstly you can check cmd_vel topic with rostopic echo /cmd_vel If didnt publish nothing there is problem about Move_Robot.PY however it send a cmd_vel you should check your ros and motor communication

bekirbostanci gravatar image bekirbostanci  ( 2021-02-03 14:40:54 -0500 )edit

I got it running but now I get the following for my second part:

error_x = cv - width / 2;
NameError: global name 'cv' is not defined

But cv is defined... what am I missing here?

gup_08 gravatar image gup_08  ( 2021-02-03 16:59:07 -0500 )edit
1

in this script I didnt see cv - width /2 line but it looks like a python variable problem. Probably you defined cv variable another function and you want to access that variable another function. However you can not access if you want to get that variable you have to write at cv defined function global cv

def function_name():
   global cv
   cv = .....
bekirbostanci gravatar image bekirbostanci  ( 2021-02-03 17:06:30 -0500 )edit