TurtleSim-Sketch

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TurtleSim-Sketch

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# Project: Turtle-Sketch

## Overview

- In this project, the image on the left is taken as input and the image on the right is obtained as output by using turtlesim

![Output](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/Output.png)

- The image on the left can be selected using it's path as well as can be directly taken from the camera

- The below videos show the project in action

> Click on the below animations for full video

### Using an image

[![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/video.gif)](https://youtu.be/bBs16HXfasw)

### Using webcam

[![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/cam.gif)](https://youtu.be/nKCuhRvWfk4)

---

## Concepts Used

Following are the concepts used for this project:

- **Dynamic reconfigure**
  - To import  the image using path
  - To import the image using camera
  - To set thresholds for Canny edge detection 
- **ROS parameters** 
  - To set the values of threshold parameters
  - To fetch the  values of threshold parameters
- **ROS services** 
  - To spawn the turtles
  - To teleport the turtle
  - To set the status of a pen as - ON/OFF
  - To remove the turtles after sketch is completed
- **OpenCV**
  - To import image
  - To find the edges using Canny edge detection
  - To find the contours
- **Multi-processing** 
  - To spawn an army of turtles to draw the sketch

---

## Directory Structure

- The directory contains 3 packages:
  - `sketch`
  - `dynamic reconfigure`
  - `image_thresholding`

- Sketch directory structure

```
  ├── CMakeLists.txt
  ├── docs                                 # Supported files for documentation
  │   ├── Contours.png
  │   ├── done.png
  │   ├── dynamic reconfigure.png
  │   ├── edges.png
  │   ├── Output.png
  │   ├── rosgraph.png
  │   ├── test.png
  │   └── turtles.png
  ├── include
  │   └── sketch
  ├── launch                                # Launch Files
  │   └── sketcher.launch
  ├── package.xml
  ├── README.md
  ├── nodes                                 # ROS Nodes
  │   ├── ironman.jpeg
  │   ├── sketcher.py
  │   └── Turtle.py
  └── TODO.md                               # TO DO for next version
  ```

- Image_thresholding directory structure

```
  .
  ├── cfg                                    # Configuration file for GUI
  │   ├── import.cfg                         # GUI params related to image import
  │   └── thresholds.cfg                     # GUI params related to image thresholding
  ├── CMakeLists.txt
  ├── include
  │   └── dynamic_parameters
  ├── launch                                 # Launch files 
  │   └── canny_thresholding.launch            # Launch - GUI for Canny edge detection
  ├── nodes                                  # ROS Nodes
  │   ├── get_values.py
  │   ├── import_server.py                   # Import Image import parameters in python node
  │   └── server.py                          # Import thresholding parameters in python node
  └── package.xml
  ```

---

## Coding Style Guide - PEP8

---

## Dependencies

- `dynamic reconfigure` package
- `OpenCV`

---

## Setup and Run

To run the project on your local system, follow the procedure:

- Download the packages - `sketch`, `image_thresholding`, and `dynamic-reconfigure-noetic-devel`
- Copy these packages to your ROS workspace i.e. `~/ROS_ws/src/`
- Build the workspace
  - `$ cd ~/ROS_ws/` 
  - `$ catkin_make`

- Open new terminal and source the ROS workspace - `source ~/ROS_ws/devel/setup.bash`

- Run the command - `$ roslaunch sketch sketcher.launch`

- This command will open turtlesim and GUI for this project

![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/test.png)

![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/dynamic_reconfigure.png)

- You can select image **Address (0)** or **Camera (1)** option for `CaptureType`
- If you select *Address (0)*, insert the path of the image on you system in the `img_path ` section
- Then click on the checkbox in front of `Capture`

- If you select *Camera (0)*, camera window will pop-up and you can click on the checkbox in front of `Capture` once you get the desired frame

- This  will open up a window with edges in the selected frame

![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/edges.png)

- Now, use the GUI to set minimum and maximum threshold values to get the desired contours

- Click on the checkbox in front of `Start` to spawn an army of turtles which will sketch these contours for you

![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/turtles.png)

- After the sketch is completed, the turtles will disappear

![](https://raw.githubusercontent.com/Shilpaj1994/TurtleSim-Sketch/master/sketch/docs/done.png)

**Note:**

- If you want to change the approach to sequential from parallel, follow the steps:
  1. Open launch file in this directory `~/ROS_ws/sketch/launch/`
  2. The `arg` tag for the sketcher node has a value of 1
  3. Change this value to `0`
- Here, 0 = sequential execution and 1 = parallel execution

---

## Article

[<img src="https://cdn.mos.cms.futurecdn.net/xJGh6cXvC69an86AdrLD98-320-80.jpg" style="zoom: 70%;">](https://medium.com/@shilpajbhalerao/ros-turtlesim-playground-cbc867924a8)

---

## Contact

[<img src="./sketch/docs/linkedin_logo.png" alt="LinkedIn Logo" style="zoom: 25%;" />](https://www.linkedin.com/in/shilpaj-bhalerao/)[<img src="./sketch/docs/github_logo.png" style="zoom: 15%;">](https://github.com/Shilpaj1994) [<img src="./sketch/docs/youtube_logo.png" style="zoom: 35%;">](https://www.youtube.com/channel/UCucf49_Iau18mG5YFFCSpmw?view_as=subscriber)

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