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TenezBot :: A Tennis Ball Collecting Robot

Build Status License Coverage Status

Overview

We propose to design "TenezBot" a tennis ball collecting robot, by incorporating high-quality software engineering practices for Acme Robotics. "TenezBot" package is a complete software package which will be integrated in their new line of products. Tennis is played widely throughout the world. Mastering this game requires a good amount of time. But with that comes the demanding task of collecting hundreds of tennis balls scattered across the court, which becomes really frustrating after a tiring practice session. Thus we are aiming to develop “TenezBot” a robot which can detect ball, its position in the environment, reach out to the ball and collect it in a sac using a custom made collector attached with the TurtleBot base platform. The robot would use vision camera for vision and depth measurement. Path planning algorithms are used to reach out to the balls so that the task performance is optimum.

Alt Text

Package Deliverables

This software package contains:

  1. Code Files
  2. Dependent Software Packages
  3. World file:
    1. Tennis Court World
    2. Empty World
  4. Demo files:
    1. Bag file (Showing the simulation of robot collecting balls in the court)
    2. Visualization tools
    3. RQT Graphs
  5. Instruction manual
    • Building, Running, Tesing, Recording and Playing Instruction.
    • Hardware Implementation Instructions.

Approach

The robot would perform the following steps to complete its task

  • Sense the environment and use computer vision to detect the ball.
  • Calculate the distance to the nearest Ball.
  • Plan the path from the current position to the ball position coordinate.
  • Reach the ball coordinate and collect the ball in sac.
  • Calculate the distance to the other nearest Ball.

Agile Iterative Process (AIP)

Video Demo

  • Video Presentation: link
  • Presentation: link

About the Developer

  • Pruthvi Sanghavi (linkedin:Pruthvi Sanghavi): A graduate student pursuing Masters in Robotics at the University of Maryland College Park. He is interested in Reinforcement Learning and Dynamics.

Dependencies

In order to run the program you will need the following dependencies.

Install OpenCV

  • To install openCV, copy and paste the below given command in the terminal...
sudo apt-get update; sudo apt-get upgrade; sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev; sudo apt-get install python3.5-dev python3-numpy libtbb2 libtbb-dev; sudo apt-get install libopencv-dev libjpeg-dev libpng-dev libtiff5-dev libjasper-dev libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev; libxvidcore-dev libx264-dev sphinx-common libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev; libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev; sudo apt-get install git; git clone https://github.com/opencv/opencv.git; cd opencv; mkdir build; cd build; cmake -D BUILD_TIFF=ON -D WITH_CUDA=OFF -D ENABLE_AVX=OFF -D WITH_OPENGL=OFF -D WITH_OPENCL=OFF -D WITH_IPP=OFF -D WITH_TBB=ON -D BUILD_TBB=ON -D WITH_EIGEN=OFF -D WITH_V4L=OFF -D WITH_VTK=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH= ../ ../opencv_contrib/modules ../; make -j4; sudo make install; sudo ldconfig; sudo apt-get install python-opencv

To check whether OpenCV is alive and kicking, type as given below.

python
import cv2
print(cv2.__version__)
``` After the version gets printed, exit the python command line by typing ```
exit()

ROS Dependencies

CV_Bridge

Creating Workspace and Package

Create a ROS Workspace by running the following commands. (Replace with the workspace name of your liking.)

  • Open a terminal
mkdir -p ~/<workspace>/src
cd <workspace>
catkin_make
source devel/setup.bash

For creating the TenezBot Package, Run the following commands.

cd src
git clone https://github.com/Pruthvi-Sanghavi/TenezBot
cd ..
catkin_make

Running the Demo

To run the demo, run the following commands in the terminal.

  • Open a terminal
cd <workspace>
source devel/setup.bash
roslaunch tenezbot tenezbot.launch

Bag file

Recording the Bag file

  • A ros bag file records the topic and messages being published in the terminal. Run the following commands in the terminal.
cd <workspace>
source devel/setup.bash
roslaunch tenezbot tenezbot.launch record:=enable

The bag file is saved as tenezbot.bag in the results directory.

Inspecting the bag file

To get the information about the bag file, run the following the terminal. Open a terminal

cd <workspace>/src/tenezbot/results
rosbag info tenezbot.bag

Playing the bag file

In order to play a bag file, run the following commands in the terminal:

Open a terminal

roscore

Open a new terminal

cd <workspace>/src/tenezbot/results/
rosbag play tenezbot.bag

Run Tests

cd <workspace>
catkin_make run_tests

Plugins

CppChEclipse

If cppcheck package is not installed, then to install the package, run the following command:

sudo apt-get install cppcheck

To run cppcheck in Terminal, run the following commands:

cd ~/<workspace>/src/TenezBot
cppcheck --std=c++11 -I include/ --suppress=missingIncludeSystem $(find . -name \*.cpp -or -name \*.hpp | grep -vE -e "^./docs/" -e "^./launch/" -e "^./results/" -e "^./UML/" -e "./world/")
Google C++ Style

If cpplint package is not installed, then to install the package, run the following command:

sudo apt-get install python-pip
pip install cpplint

To check Google C++ Style formatting in Terminal, run the following commands:

cd ~/<workspace>/src/TenezBot
cpplint $(find . -name \*.cpp -or -name \*.hpp | grep -vE -e "^./docs/" -e "^./launch/" -e "^./results/" -e "^./UML/" -e "./world/")

Generating Doxygen Documentation

To install doxygen run the following command:

sudo apt install doxygen

Now, to generate doxygen documentation, run the following commands:

cd ~/catkin_ws/src/TenezBot/
doxygen -g
doxygen doxconfig

Doxygen files will be generated to /docs folder. To view them in a browser, run the following commands:

cd docs/html
firefox index.html

Known Issues/Bugs

  • Ball color is fixed.
  • Ball collection requires a speacial mechanism. It can be demonstrated by making the balls to disappear using ros service.
  • Robot has a limited depth and vision.

License

 BSD 3-Clause License

Copyright (c) 2019, Pruthvikumar Sanghavi, Achal Vyas.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
  list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice,
  this list of conditions and the following disclaimer in the documentation
  and/or other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its
  contributors may be used to endorse or promote products derived from
  this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.