ROS package for traffic light signals detection
ROS Nodes:
-
red_mask_detection.py: runs on the robot, subscribing to image_topic and scanning the image looking for semaphore's red colour components
-
grey_scale_detection.py: runs on the robot, subscribing to image_topic and scanning the image looking for semaphore's light peaks
-
traffic_light_detection.py: runs on the robot, putting together the informations from the two previous Nodes and publishing the result on its topic
Arduino Code:
- legoSemaphore.ino: controls a Arduino Nano semaphore, allowing to light up the LED and swap between red and green
Launch: "roslaunch traffic_light rospibot.launch" on the robot will launch:
- rospibot_network.py (from ros-joy-controller package)
- traffic_light_detection.py
- red_mask_detection.py
- grey_scale_detection.py
- talker.py (from ros-pi-camera-interface package)
- motor_hat_node (from motor_hat package)