Pan-Tilt camera Visual Servoing

THis repository implements a pan-tilt anology on a rrbot and performs visual servoing to follow a red object.

Details of implementation

. rrbot configuration

. Object detection

. Control law

Installation

Go to src folder of your workspace

cd ~/catkin_ws/src

Download repository

github clone https://github.com/TSainathPolisetty/VisualServoing.git

Catkin make the workspace

cd ..

catkin_make

Source the workspace

source devel/setup.bash

There are three nodes to run.

1. Simulation
2. Object detection
3. Visual Servoing

1. Simulation

roslaunch rrbot_gazebo rrbot_world_with_scout.launch

2. Object detection In a new terminal

cd ~/catkin_ws

source devel/setup.bash

rosrun waypoint_pkg obj_track.py

Before opening the next node, for visualization, you can visualize the rrbot camera and object detection output in rqt. Run rqt in a new terminal. Add 2 Image View plugins and stream from the below topics

/rrbot/camera1/image_raw

and

/object_detector/image_with_box

3. Visual Servoing In a new terminal

cd ~/catkin_ws

source devel/setup.bash

rosrun waypoint_pkg vs_for_rrbot.py

You can optionally run teleop_keyword to control the red UGV.

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Demo of Visual Servoing with RRBOT(Pan-Tilt)`