Line Follower Camera Vision

Bot Completes The Track

Table of Contents

• Setup
• How to run
• Control the robot with the keyboard

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Setup

1. You need to have ROS Melodic installed.
2. Create a new catkin workspace if you don't have one already.
3. Clone this repository inside workspace/src: https://github.com/FineasRobotics/line_follower.git
4. Install packages: sudo apt-get install ros-melodic-turtlebot3 ros-melodic-turtlebot3-msgs ros-melodic-turtlebot3-simulations
5. Run from the root of workspace: catkin_make
6. To use turtlebot3, you need to specify which model you are going to use. To do that:
   • You either run export TURTLEBOT3_MODEL=${TB3_MODEL} where ${TB3_MODEL} you put burger, waffle or waffle_pi before running the simulation.
   • Or you put the above line at the end of your ~/.bashrc, with: gedit ~/.bashrc PS: We use waffle.

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How to run

1. Source the workspace(source devel/setup.bash or check our ROS Basics doc for more information).

In simulation

2. Run: roslaunch line_follower simulation.launch mode:=sim.
   Tip: you can make gazebo open its GUI by changing gui argument inside gazebo_simulation.launch file to true.

With a real robot

2. Run: roslaunch line_follower simulation.launch.

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Control the robot with the keyboard

Open another terminal and run: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

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How to run tests

1. To test line_follower, run inside test folder: python -m unittest test_line_follower