This is simulation of a camera+robot system that is capable of detecting and catching small objects.
The stationary camera detects the objects and predicts the trajectory of the object using motion detection using OpenCV, and then a wheeled robot is commanded to go at the desired location to catch the object.
The simulation is achieved through Gazebo, the code is managed using Robot operating system (ROS) and the nodes of ROS are written in Python.

Simulation package includes the world files, model(vehicle) configuration files and launch file of the simulation.

Commander package includes the publisher and subscriber nodes for the robot.

• Clone this repo inside the src folder of your ROS workspace
• Go back to the worksace directory and use catkin_make to build the package
• Use command roslaunch simulation my_world.launch to start the simulation of the robot and world. The camera module start publishing the raw data.
• Then in a new terminal, start the subsriber node using rosrun commander command.py which then streams the camera input to a screen