February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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Object recognition in Gazebo
To get the code, follow the instructions we provided at the beginning of this chapter under the section, Technical requirements. The exercise in Gazebo is going to be pretty simple and very effective at the same time. You will check how the virtual GoPiGo3 can recognize a common tennis ball from the image feed coming from the robot's camera:
- Let's start by spawning a model of the ball in Gazebo:
T1 $ roslaunch tf_gopigo gopigo3_world.launch
- Then, launch a rqt_image_view node to watch the subjective view as perceived from the robot's camera:
T2 $ rosrun rqt_image_view rqt_image_view
Click on the top-left empty box, and select ;/gopigo/camera1/image_raw topic. Then, you will see the subjective view of the robot ...
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