Welcome to Transbot SE repository

2、HD camera color tracking

2.1、Introduction

The Transbot SE robot HD camera color tracking is capable of recognizing multiple colors at any time, automatically storing the currently recognized colors.

When controlling the car to follow the detected colors, we need to keep a certain distance from the object.

The color tracking of the Transbot SE robot can also realize the function of real-time HSV regulation. By adjusting the high and low thresholds of HSV, the interfering colors can be filtered out, so that the square can be identified ideally in a complex environment. If the color picking effect is not ideal At this time, we need to move the car to a different environment to calibrate it, so that we can recognize the color we need in a complex environment.

• HSV

H: 0 — 180

S: 0 — 255

V: 0 — 255

Part of the red is classified as the purple range here:

• HSV

• Lightness V

  • Saturation S

• Hue H

2.2. Operation steps

Note: [R2] on the remote control handle has the [pause/start] function for all gameplays.

2.2.1. Start

jetson motherboard/Raspberry Pi 4B

First start the underlying driver control, which can also be placed in other launch files. (robot side)

roslaunch transbot_bringup bringup.launch

Raspberry Pi 5

Before running, please confirm that the large program has been permanently closed

Enter docker

Note: If there is a terminal that automatically starts docker, or there is a docker terminal that has been opened, you can directly enter the docker terminal to run the command, and there is no need to manually start docker

Start docker manually

xxxxxxxxxx
./run_docker.sh

Start low-level driver control

xxxxxxxxxx
roslaunch transbot_bringup bringup.launch

method one

jetson motherboard/Raspberry Pi 4B

Start the monocular camera (robot side)

xxxxxxxxxx
roslaunch usb_cam usb_cam-test.launch

Start monocular color tracking control (virtual machine)

xxxxxxxxxx
roslaunch transbot_mono mono_tracker.launch VideoSwitch:=false tracker_type:=color

Raspberry Pi 5

Enter the same docker from multiple terminals

Keep the program of the previous docker terminal running and open a new terminal

Enter the following command

xxxxxxxxxx
docker ps

Enter the same docker and use the following 18870bc3dc00 to modify the ID displayed on the actual terminal.

 HD camera calibration
HD camera color tracking (robotic arm)