Setup Development environment for ROS and OpenCV on Raspberry Pi

TL;DR

In my rover car project, ROS is the framework to communicate among all components, including motors, camera, user input and algorithms. OpenCV is the framework for image processing like lane detection and line following. ROS Indego is the TLS version, which is easy to install with Ubuntu 14.04. ROS Jade is easy to install, too. If you install Ubuntu 15 or later, then you need to build ROS from sources. This article shows how to install ROS Jade.

Create your ROS packages

TL;DR

ROS (Robot Operating System) is a well-defined framework for robot design. It provides a easy-to-use and multiple-language binding for makers to concentrate on major algorithm implementations, but not routine communication protocols among components. Tons of ROS packages are developed and well-tested, and they are available for free, can save us time and money. Integration with Gazebo and its own visualization tools allow us to do simulation or debug. With C++ as major developing language, it is easy to integration with your favorite toolkits, like OpenCV, PCL, etc. Or, you can use Python to do quick prototypes without long-waiting compiling.

OpenCV and ROS: by a Raspberry Pi rover project

TL;DR

This is based on a rover project by using ROS as framework and OpenCV as image processing SDK. The rover runs by following a track which is detected from image sequences via Picamera. Hough transform and contour detection are the ways to get the track, then the direction of detected track is converted to rover direction. You can find the codes in my git repository.

Install Ubuntu on Raspberry Pi

TL;DR

This is to install Ubuntu 14.04 on Raspberry Pi, instead of Raspbian. With Ubuntu installed, it is much easier to install ROS from package repositories, or we need to build ROS from sources, which is a lot of work.

ROSCar - A rover test platform with Raspberry Pi, Ubuntu, ROS and OpenCV

TL;DR

This is yet another Raspberry Pi Rover project, which depends on camera as major visual input and uses ROS (Robot Operating System) as software framework. With ROS, I can concentrate on individual algorithm design, but not to worry about communication among all components. You can find my codes in github.

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