This repository contains a simple demonstration of using ROS and OpenCV to track a ball with a mobile robot via a camera feed.

The associated tutorial is available here.

Thanks very much to Tiziano Fiorenzani for his ROS 1 tutorial and corresponding code on which this repo is based (code reproduced with permission).

One other thing to be wary of: this is a ROS/ament Python package, which means the launch and config files contained will NOT be linked with the --symlink-install command for colcon, and will need to be rebuilt after changes.

A launch file and example parameters are provided.

TODO Document them

• Can't easily detect red due to hue wrap. If you need to detect red robustly you'll need to go in and mess with the HSV filtering.