The project is tested on Ubuntu 16.04, Python 2.7, and ROS Kinetic.
opencv-python==4.1.1.26
pyrealsense2==2.32.1.1299
It needs calibration before running.
rosrun ballbot calibration.py
It first gets the pixel position of 4 markers on the table. You should define the color of markers on detector.py. The default value is YELLOW.
Then you need to move the endpoint of robot to 4 markers. It is to get the cartesian position of 4 markers.
Run the following command:
roslaunch ballbot ballbot.launch
Video demo are available at Youtube.