Computer Vision Examples

This project contains code examples created in Visual Studio Code for Computer Vision using C++ & OpenCV & Point Cloud Library (PCL) in ROS 2. These examples are created for the Computer Vision Subject of Robotics Software Engineering Degree at URJC.

This package is recommended to use with the TIAGO simulator.

Installation

You need to have previously installed ROS 2. Please follow this guide if you don't have it.

source /opt/ros/humble/setup.bash

Clone the repository to your workspace:

mkdir -p ~/cv_ws/src
cd ~/cv_ws/src/
git clone https://github.com/jmguerreroh/tiago_simulator.git
cd ~/cv_ws/
rosdep install --from-paths src --ignore-src -r -y

Building project

colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF

Run

Execute:

ros2 launch computer_vision cv.launch.py

If you want to use your own robot, in the launcher, change the topic names to match the robot topics.

FAQs:

• /usr/bin/ld shows libraries conflicts between two versions:

Probably you have installed and built your own OpenCV version, rename your local folder:

mv /usr/local/lib/cmake/opencv4 /usr/local/lib/cmake/oldopencv4

About

This project was made by José Miguel Guerrero, Associate Professor at Universidad Rey Juan Carlos.

Copyright © 2024.

License

This work is licensed under the terms of the MIT license.