I took a bag file of an autonomus golf cart, then used class examples to piece together a cool project. It demonstrates lidar and camera processing in ROS using OpenCV and the PCL library.
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The lidar uses intensity of points to place bounding boxes on the sign posts.
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The camera is used to track the line of tape on the ground. The camera image is processed to get 3D information and place PCL points on the tape. Then a line is fit is projected to fit those points
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Oh and also I added the iconic R3D3 (upgrade from R2D2) to this project :)
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Overview video showing off bag file scenerio
- Run this to launch the project you see in the image
roslaunch golfcart_push svc_bag.launch
- Then run this bag in a second terminal
rosbag play --clock moving-002.bag -l
- Run this to see the R3D3 in rviz
roslaunch golfcart_push r3d3_model.launch
- Run this to use dynamic reconfigure and observe HSV
roslaunch golfcart_push hsv_example.launch
