Second project of Udacity's Robotics Software Engineer Nanodegree program where I designed and built a mobile robot and house it on my world (from Gazebo_World repo).

The robot chases a white ball around as you move the ball inside the house!

👉 Ubuntu 16.04 LTS
👉 ROS Kinetic Kame
👉 Gazebo 7.8.1
👉 C++ 11

First, make sure you have sourced your ROS distro into the terminal environment

source /opt/ros/kinetic/setup.bash

Then, create a catkin workspace (skip this step if you already have one)

mkdir -p /home/workspace/catkin_ws/
cd /home/workspace/catkin_ws/
catkin_init_workspace

Clone this repository inside the catkin_ws folder

git clone https://github.com/MichelleMouse/Go_Chase_It.git .

Build the package and source the .bash setup into the environment

cd ..
catkin_make
source devel/setup.bash

Launch the simulation environment and RViz

roslaunch my_robot world.launch

Then, open a second terminal, source ROS and setup.bash and run the ball_chaser package

cd /home/workspace/catkin_ws/
source devel/setup.bash
roslaunch ball_chaser ball_chaser.launch

If you wish to see the feedback from the camera, run the following command in a third terminal window

cd /home/workspace/catkin_ws/
source devel/setup.bash
rosrun rqt_image_view rqt_image_view