stereo_to_3d_points_ws

Main goal

• Make a differential drive robot in Gazebo Simulation with a stereo camera mounted on top
• The robot should be controlled from keyboard
• Then corresponding 3D points of what robot sees should be plotted in Rviz

Dependencies

Make sure you have ROS installed.

2 ROS packages should be pre installed:

• stereo_image_proc
• image_view

You can check the availability of package using:

• rospack list | grep stereo_image_proc
• rospack list | grep image_view

Install them if packages are not found.

To run the project

• Clone this repository or just download the zip file and extract

• Inside the downloaded folder run : catkin_make (for the first time only)

• Inside the downloaded folder run rskbot_run.sh script (i.e ./rskbot_run.sh )

• Press the following keys inside the terminal to move around:

                       | u | i | o |
                       | j | k | l |
                       | m | , | . |