Virat-gazebo-sim

Gazebo simulation of a pothole detecting remote controlled robot

Loading the urdf on a grassy plane

Moving it around with a simple tele-op code

Screencast.from.08-07-2022.05.56.50.PM.webm

See what Virat Jr sees on ROS Visualizer

Virat Jr uses openCV to detect potholes:

The detected potholes are mapped on RViz with pointclouds

The pixels generated from the contours are converted to ground frame distances wrt to the camera using inverse perspective mapping (this formula is used):

The rviz map we get:

Altogether:

Screencast.from.08-07-2022.11.49.20.PM.webm

MOVE BASE

Move Base is a package in ROS that provides a 2D navigation system for robots. It is designed to allow a robot to navigate autonomously in a given environment while avoiding obstacles and reaching a target location.

The red arrow is the given goal pose, the green line is the path generated by move base. The obstacles detected have an inflated cost of traversal as indicated by the blue costmaps