A door passing turtlebot for ROS. This project implemented as BLG456E Course Project in 2018.

To run the environment designed for this task:

roslaunch turtlebot_gazebo turtlebot_world.launch  world_file:=/home/$USER/catkin_ws/src/akupara/worlds/akupara_playground.world

If you are running as a different user (or you are SU) please change $USER with your user name

To launch designed control module run

rosrun akupara openCV.py

If you run issues with running you might need to give permissions to openCV.py with chmod +x command on this file

To publish color (change red with desired color):

rostopic pub door_color std_msgs/String red

Avaliable colors for now are:

• blue
• green
• pink
• yellow
• red

Copy project to ROS workspace and then run catkin_make on workspace directory

• To drive robot around:

roslaunch turtlebot_teleop keyboard_teleop.launch

• To display camera topic:

rostopic echo /camera/rgb/image_raw
rostopic info /camera/rgb/image_raw
rosmsg show /camera/rgb/image_raw