06 / SYSTEM2025

TurtleBot3 Red Ball Tracker

Camera-to-Nav2 visual servoing demo

Find the red ball. Then actually drive to it.

Visual servoing / Nav2 · STATUS: SIMULATED

Gazebo world with a TurtleBot3 casting a lidar fan toward a red ball, beside a terminal logging Red ball DETECTED, bearing and distance, then Navigation SUCCEEDED
DETECTION → NAV2 GOAL → 'NAVIGATION SUCCEEDED' — ONE FRAME, WHOLE PIPELINE

SYSTEM SHEET

STACK
ROS 2 vision node — OpenCV in, Nav2 out, TurtleBot3 in Gazebo
DETECTION
HSV masking, centroid + area → bearing and distance estimate
BEHAVIOR
SEARCHING → DETECTED → Nav2 goal accepted → drive to the ball
LOOP
Closed-loop visual servoing: detection updates steer the goal, not just log it

MY SCOPE

  • HSV detection node with bearing/distance estimation
  • Search → detect → navigate behavior state machine
  • Integrated Nav2 for goal execution (adapted stack)

CONNECTED WORK