ROS Robotics By Example

Summary

The aim of this chapter was to stretch your knowledge of ROS by implementing an advanced practical experience to identify and highlight some of the ROS advantages. A ROS system of nodes was created to visualize the environment in which a Crazyflie quadrotor was seen and controlled. The Kinect for Windows V2 depth camera was used to visualize this environment, and ROS nodes handled the detection of markers on the Crazyflie and the target. The location of the Crazyflie was identified in Cartesian coordinates (x, y, z), with the x and y values referring to the quadrotor's position in the image frame and z referring to its distance from the camera. These coordinates were converted into a tf transform and published. The target location was ...