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Line following in ROS

asked 2013-03-18 05:41:12 -0500

ZoltanS gravatar image

updated 2013-04-02 03:36:08 -0500


I was just wondering if there is any demo/tutorial on line following for ROS. I have a Turtlebot and I would like to mount a webcam on it and let it follow a line.

I found some line following algorithm for the Eddiebot, which is somewhat similar to Turtlebot. I am trying to make it work with the Turtlebot. Any hints and help are welcomed.

Being a rookie in ROS I don't know how to make this work in ROS and Turtlebot. Can anyone please help me here?

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Maybe.. need to extract the line from image. If u have a camera model, u are able to get the relative coordinates of the line respect to your robot. feed it into global planner... Or u do not have a camera model, you can build a PID controller, make sure the line is perpendicular in the near end..

tianb03 gravatar image tianb03  ( 2013-04-02 06:55:50 -0500 )edit

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answered 2013-04-08 05:40:16 -0500

ZoltanS gravatar image

I found another solution for Turtlebot with line tracking and collision detection. Here you can see a video in action: video and the code can be downloaded from here: However, this was written for the original Turtlebot, and I if you want to use it on Turtlebot 2 it needs the following adjustments: the program sends the move commands to a false topic, thus it needs to be changed to the right one: /cmd_vel_mux/input/teleop at line 5 in Movement.cpp.

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I want to build a similar project but i don't have a turtlebot. I will build a robot platform on my own. Can you pls tell me what are all the hardware does this project(package) utilizes. so that i will build a custom robot including the required hardware.

Kishore Kumar gravatar image Kishore Kumar  ( 2016-08-24 16:47:50 -0500 )edit

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Asked: 2013-03-18 05:41:12 -0500

Seen: 5,292 times

Last updated: Apr 08 '13