Hands-On ROS for Robotics Programming

Integrating an ML task

This node of step 7 formulates its functionality as recognize the garbage store entrance and stop at the exact position where a hoist will hook the loaded garbage. Hence, the Pi camera comes to the rescue and image recognition capability has to be included in the logic programming of this node. This logic can be briefly expressed as publishing the cmd_vel messages to robot differential drives that allow GoPiGo3 to be put right in place. So, it is a feedback mechanism between visual perception, that is, entrance shape alignment in the image or not, and a motion command to correct and center:

• If the entrance is shifted to the left in the image, the robot should rotate left.
• And if deviated to the right, it should rotate ...