In this example, we will show you how to make the Leo Rover mobile robot follow an ARTag.

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After completing this tutorial, your rover should be able to follow a printed ARTag.

1. Any computer which you can connect to the rover via ssh.
2. Stock Leo Rover.

The only physical thing you'll need to do is to print an ARTag:

• You can download an ARTag from here (you'll need only the one in the top-left corner), or you can follow the instruction on generating markers from ros wiki.
• The printed ARTag needs to be 16cm x 16cm.
• The printed ARTag needs to have a white border around it.

Here's an example of our ARTag that we used for this task:

Installing using apt

You can install the package using apt by typing on the rover

Then you just need to source the ros workspace

Building from source

You can also get all the needed software from our leo_examples github repository. You need to clone it on the rover in the ros workspace directory (if there's no such a directory, then, first go through the ROS Development tutorial):

Now, you need to install all the dependencies for the downloaded packages:

Then, you need to source the directory and build the packages:

To run the example, you need to be connected to the rover via ssh. Once you do this, type in the terminal:

The rover will start following the ARTag once it detects it.

After completing this tutorial, you can try other examples from the leo_examples repository (line follower and object detection), or try other integration from our site.