Computer Vision
Computer Vision
ROS Projects
Project | Ball Chasing Robot (C++)
This project uses Gazebo and ROS libraries to design, build, and house a mobile robot in an simulated hallway. The robot is programmed with C++ nodes in ROS to chase a white ball till it is out of view. Custom ROS packages were built, one for the robot and the simulation environment, and the second for driving the robot and image processing. The second package has the ROS nodes which program the robot to chase a white ball.
Project | Localization (C++)
In this project, ROS Adaptive Monte Carlo Localization (AMCL) package is utilized to accurately localize a mobile robot inside a map in the Gazebo simulation environments. A ROS package is created that launches a custom robot model in a custom Gazebo world. Utilizing the ROS AMCL package and the Tele-Operation / Navigation Stack the custom robot is localized. ​
Project | Graph SLAM (C++)
In this project a 2D occupancy grid and 3D octomap were created from a simulated environment using a custom robot with the RTAB-Map package. RTAB-Map (Real-Time Appearance-Based Mapping) is a popular solution for SLAM to develop robots that can map environments in 3D. rtabmap_ros package was used to interact with RTAB-MAP API.
