We are building a mobile robot to help OttoCar in overtaking process. The mobile robot built on Arduino platform with three wheels. Two wheels with DC motor for Differential Drive, and another wheel to balance the robot. Motor Shield is used to drive the motor.
Localization of mobile robot
We have used camera for localization, Which is Placed at the top of the arena. Camera tracks IR beacons position mounted on the robo using a ROS camera tracking package. Messages from camera are of geometry pose2D type. The Robot is subscribed to thesis messages using rosserial.
ros :: Subscriber <geometry_msgs :: Pose2D> sub ("message", & messageCb);
Next step is to drive the robot in A Certain path by using camera readings.