https://github.com/Hongtai-Yuan/FollowLine_Lidar_ROS2

This warehouse can easily patrol the line of the vehicle in ros2 humble, and it can automatically adjust the HSV threshold to adapt to various lines.
https://github.com/Hongtai-Yuan/FollowLine_Lidar_ROS2

follow-bot histogram hsv lidar ros2-humble

Last synced: 3 months ago
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This warehouse can easily patrol the line of the vehicle in ros2 humble, and it can automatically adjust the HSV threshold to adapt to various lines.

• Host: GitHub
• URL: https://github.com/Hongtai-Yuan/FollowLine_Lidar_ROS2
• Owner: Y250HT
• Created: 2024-11-23T15:27:21.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2024-11-23T15:32:38.000Z (11 months ago)
• Last Synced: 2024-11-23T16:29:27.436Z (11 months ago)
• Topics: follow-bot, histogram, hsv, lidar, ros2-humble
• Language: Python
• Homepage:
• Size: 10.7 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# FollowLine_Lidar_ROS2

在巡线代码中添加了雷达避障模块，当雷达判断前方有障碍时停车；同时，不是根据某一种颜色来进行选择追随，在程序开始后可以选择哪个颜色进行过滤，亚博智能的代码无法追随纯黑色，这里进行了更新和改进

## 如何使用这份代码

```bash

$ colcon build

$ . install/setup.bash

$ ros2 run Follow_line_withlidar_ros2 follow_line_lidar

```

键盘按键控制：

【r】：选色模式，可用鼠标选择要识别的颜色的区域（不能超过区域范围）。

【i】：目标检测模式。左侧彩色图（Color），右侧二值图（Binary）。

【q】：退出程序。

【空格键】：循迹行驶。