Gazebo Tutorial and partial Oops assignment added.

Shivam/Gazebo/my_robots/model.config

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+<?xml version="1.0"?>
+<model>
+  <name>My Robot</name>
+  <version>1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+
+  <author>
+   <name>My Name</name>
+   <email>[email protected]</email>
+  </author>
+
+  <description>
+    My awesome robot.
+  </description>
+</model>

Shivam/Gazebo/my_robots/model.sdf

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+<?xml version='1.0'?>
+<sdf version='1.4'>
+  <model name="my_robot">
+  	<static>false</static>
+  		<link name='chassis'>
+  			<pose>0 0 0.1 0 0 0</pose>
+
+  			<visual name='visual'>
+  				<geometry>
+  					<box>
+  						<size>0.4 0.2 0.1</size>
+  					</box>
+  				</geometry>
+  			</visual>
+
+         <collision name='collision'>
+          <geometry>
+            <box>
+              <size>.4 .2 .1</size>
+            </box>
+          </geometry>
+        </collision>
+
+
+
+        <visual name='caster_visual'>
+          <pose>-0.15 0 -.05 0 0 0</pose>
+            <geometry>
+              <sphere>
+                <radius>0.05</radius>
+              </sphere>
+            </geometry>
+          </visual>
+
+
+
+          <collision name='caster_collision'>
+          <pose>-0.15 0 -0.05 0 0 0</pose>
+            <geometry>
+              <sphere>
+                <radius>0.05</radius>
+              </sphere>
+            </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0</mu>
+                <mu2>0</mu2>
+                <slip1>1.0</slip1>
+                <slip2>1.0</slip2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </link>
+
+      <link name='left_wheel'>
+        <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
+        <visual name="left_wheel_visual">
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.05</length>
+            </cylinder>
+          </geometry>
+        </visual>
+        <collision name="left_collision">
+          <geometry>
+            <cylinder>
+              <radius>0.1</radius>
+              <length>0.05</length>
+            </cylinder>
+          </geometry>
+        </collision>
+      </link>
+      <link name="right_wheel">
+    <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
+    <collision name="right_collision">
+      <geometry>
+        <cylinder>
+          <radius>0.1</radius>
+          <length>0.05</length>
+        </cylinder>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <geometry>
+        <cylinder>
+          <radius>.1</radius>
+          <length>.05</length>
+        </cylinder>
+      </geometry>
+    </visual>
+  </link>
+
+   <joint type="revolute" name="left_wheel_hinge">
+      <pose>0 0 -0.03 0 0 0</pose>
+      <child>left_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+    <joint type="revolute" name="right_wheel_hinge">
+      <pose>0 0 0.03 0 0 0</pose>
+      <child>right_wheel</child>
+      <parent>chassis</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+      </axis>
+    </joint>
+
+
+  </model>
+</sdf>
+
+

Shivam/Oops1/Oops.cpp

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+#include <iostream>
+#include <opencv/highgui.h>
+#include <opencv/cv.h>
+#include "findCentroid.cpp"
+#include "blobDetect.cpp"
+#include "queue.h"
+
+image img_class;
+
+int main()
+{   
+    int flag1=1, flag2=1;
+    int count=0;
+	cv::Mat bin,edit;
+    bin=binary(img_class.img,190.0);
+    img_class.img_bin=bin;
+    count= img_class.bfs();
+    img_class.count=count;
+    img_class.findCentroid();
+    while (flag1==1 && flag2==1)
+    {
+    	flag1=img_class.updatepos1();
+    	flag2= img_class.updatepos2();
+    	img_class.printScore();
+    }
+
+    std::cout<<"GAME OVER";
+    return 0;
+}

Shivam/Oops1/Oops_class.h

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+#ifndef Oops_class_h
+#define Oops_class_h
+
+#include <iostream>
+#include <opencv/highgui.h>
+#include <opencv/cv.h>
+
+class pos
+    {
+     public:
+        pos()
+        {
+            x=0,y=0;colour=0;
+        }
+        int x;
+        int y;
+        int colour;
+    };
+
+class image
+    {   int score1;
+        int score2;
+        pos currentpos1;
+        pos currentpos2;
+
+    public:
+        int count;
+        cv::Mat img;
+        cv::Mat img_bin;
+        int **visited;
+        image();
+        pos *centroid;
+        int bfs();
+        int updatepos1();
+        int updatepos2();
+        void findCentroid();
+       void printScore();
+    };
+
+    image::image()
+    {    
+        score1=0,score2=0;
+        count=0;
+        score1=0;
+        score2=0;
+        img = cv::imread("/home/aries/Desktop/1.jpg",0);
+        int rows=img.rows;
+        int cols=img.cols;
+        visited= new int*[rows];
+        for(int j=0;j<rows;j++)
+        {   visited[j]= new int[cols];
+        for(int i=0;i<cols;i++)
+          visited[i][j]=-1;
+        }
+        centroid= new pos[count];
+
+    }   
+
+#endif

Shivam/Oops1/blobDetect.cpp

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+#ifndef blobDetect_h
+#define blobDetect_h
+#include <iostream>
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include "Oops_class.h"
+#include "queue.h"
+
+
+
+cv::Mat binary(cv::Mat img,float threshold)
+{   cv::Mat img_gray,img_bin;
+	img=cv::imread("/home/aries/Desktop/1.jpg",1);
+    cvtColor(img,img_gray,CV_RGB2GRAY);
+    cv::threshold(img_gray,img_bin,threshold,255.0,cv::THRESH_BINARY);	
+    cv::imwrite("img_bin3.jpg",img_bin);
+    return img_bin;
+
+}
+
+int image::bfs()
+{   
+	queue q;
+	int x=0,y=0;
+	int cols=img_bin.cols, rows=img_bin.rows;
+  int count=1;
+
+	for(int j=0;j<img_bin.rows;j++)
+		for(int i=0;i<img_bin.cols;i++)
+		{
+           if((img_bin.at<uchar>(i,j))==0)
+           {
+           		if(visited[i][j]==-1)
+           		{
+             		q.enqueue(i,j);
+             		q.queueFront(&x,&y);
+             		visited[i][j]=0;
+
+             		while(!q.isEmpty())
+             		{	q.queueFront(&x,&y);
+             			q.dequeue();
+             	    for(int l=y-1;l<=y+1;l++)
+           				for(int k=x-1;k<=x+1;k++)
+             			{
+             				if(k>0 && k<cols && l>0 && l<rows && visited[k][l]==-1 && img_bin.at<uchar>(i,j)==0)
+             				{	
+             					q.enqueue(k,l);
+             					visited[k][l]=count;
+
+             				}
+
+             			}
+             	    visited[x][y]=count;
+                }
+                count++; 
+                std::cout<<count<<std::endl;
+          		}
+
+
+           	}
+		}
+
+	return count;
+
+}
+
+#endif
+
+
+