A version for monitoring whether a camera detects ball or not, and printing out balls' location in an image coordinate.

To run a main node (ball_detect)

1. Move to your workspace and clone this repository.

2. catkin_make --pkg core_msgs

3. catkin_make

4. Execute the main node: rosrun ball_detection ball_detect OpenCV windows will be printed out. (Of course, a camera launch file should be executed first.) Please check balls are detected well.

5. To change parameters related to the detection (i.e. HSV value...) please run rosrun rqt_reconfigure rqt_reconfigure and change them in your favor.

To run tf_listener

1. Before get started, please follow the instruction and run a extrinsic calibration package in syntax: this link

2. While running the package above, execute a node by typing rosrun ball_detection tf_listener

3. Rotation and translation matrix will be printed out on a terminal. Then, please copy and paste it onto two float type array rotation[9] and translation[3] at ball_detect.h in an include folder.

4. Recompile the whole workspace by commanding catkin_make