Line-Following Robot

This is a project that utilizes ROS 2 Humble, OpenCV, and Gazebo Fortress Ignition to simulate a vehicle that autonomously follows a black line.

Installation

1. Create a directory for the workspace

   mkdir ros2_humble_ws

2. Change directory to the workspace

   cd ros2_humble_ws

3. Create src directory

   mkdir src

4. Change directory to src

   cd src

5. Clone this project

   git clone https://github.com/Howard-GitHub/line-following-robot.git

6. Change directory back to the root of the workspace

   cd ..

7. Run colcon build in ros2_humble_ws

   colcon build

Usage

Here are the instructions to run the simulation of the line-following robot.

1. Startup the Gazebo application with the vehicle and black line loaded

   source install/setup.bash
   ros2 launch line_following_robot gz_spawn.launch.py

2. Run the line-following program on a separate terminal

   source install/setup.bash
   ros2 run line_following_robot line_following_node

Third-Party Asset

Gazebo world model by KroNton

Source: https://app.gazebosim.org/KroNton/fuel/models/track1

License: Creative Commons Attribution 4.0 International

Changes: Integrated into a custom simulation world