文件列表:

ball_chaser (0, 2019-04-16)
ball_chaser\CMakeLists.txt (7181, 2019-04-16)
ball_chaser\launch (0, 2019-04-16)
ball_chaser\launch\ball_chaser.launch (266, 2019-04-16)
ball_chaser\package.xml (2803, 2019-04-16)
ball_chaser\src (0, 2019-04-16)
ball_chaser\src\drive_bot.cpp (2014, 2019-04-16)
ball_chaser\src\process_image.cpp (3088, 2019-04-16)
ball_chaser\srv (0, 2019-04-16)
ball_chaser\srv\DriveToTarget.srv (96, 2019-04-16)
my_robot (0, 2019-04-16)
my_robot\CMakeLists.txt (6757, 2019-04-16)
my_robot\launch (0, 2019-04-16)
my_robot\launch\robot_description.launch (541, 2019-04-16)
my_robot\launch\world.launch (1295, 2019-04-16)
my_robot\meshes (0, 2019-04-16)
my_robot\meshes\hokuyo.dae (87855, 2019-04-16)
my_robot\package.xml (2486, 2019-04-16)
my_robot\urdf (0, 2019-04-16)
my_robot\urdf\my_robot.gazebo (3260, 2019-04-16)
my_robot\urdf\my_robot.xacro (5690, 2019-04-16)
my_robot\worlds (0, 2019-04-16)
my_robot\worlds\empty.world (481, 2019-04-16)
my_robot\worlds\myworld.world (76267, 2019-04-16)

# Go Chase It Project This is the 2nd project in the Robotics Software Engineer Nanodegree Program by Udacity. ## Project Description In this project, I created two ROS packages inside my `catkin_ws/src`: 1. `my_robot`: holds a robot designed with the Unified Robot Description Format, a white-colored ball, and a gazebo world. 2. `ball_chaser`: contains two C++ ROS nodes (`drive_bot` & `process_image`) to interact with the robot and make it chase the white ball. - `drive_bot`: provides a `ball_chaser/command_robot` service to drive the robot by controlling its linear x and angular z velocities. The service publishes to the wheel joints and return back the requested velocities. - `process_image` reads my robot’s camera image, analyzes it to determine the presence and position of a white ball. If a white ball exists in the image, my node requests a service via a client to drive the robot towards it. ## Step to test `process_image` ### Step 1 Launch the robot inside the world ```sh $ cd (your workspace)/catkin_ws/ $ source devel/setup.bash $ roslaunch my_robot world.launch ``` ### Step 2 Run `drive_bot` and `process_image.cpp` ```sh $ cd (your workspace)/catkin_ws/ $ source devel/setup.bash $ roslaunch ball_chaser ball_chaser.launch ``` Now place the white ball at different positions in front of the robot and see if the robot is capable of chasing the ball. ## References 1. [The inertia matrix explained](http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/): GAZEBO ANSWERS 2. [[ROS Projects] – Exploring ROS using a 2 Wheeled Robot](http://www.theconstructsim.com/ros-projects-exploring-ros-using-2-wheeled-robot-part-1/): The Construct 3. [uos_tools/uos_common_urdf/common.xacro](https://github.com/uos/uos_tools/blob/fuerte/uos_common_urdf/common.xacro): GitHub 4. [List of moments of inertia](https://en.wikipedia.org/wiki/List_of_moments_of_inertia#List_of_3D_inertia_tensors): Wikipedia

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