LEICA SCANSTATION C5

This repo contains source code to develop a simulator in Gazebo for Leica Scanstation C5. It is involved in the ROSIN project Large_3D_inspection

Set up

• Clone

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src
  git clone https://github.com/fada-catec/leica_gazebo_simulation.git
  

• Install dependencies

• Compile

  cd ~/catkin_ws
  catkin_make
  source devel/setup.bash
  

Usage

Generate default world and place the device at your convenience.

roslaunch leica_gazebo_simulation c5_system_spawn.launch world:=assembly_line

The plugin created for LeicaScanstation C5 on Gazebo will publish LaserScan msg. Use laserscan_to_pointcloud to convert it to PointCloud2. Run the plugin to start movement and complete a scan on Gazebo.

roslaunch leica_gazebo_simulation c5_init.launch namespace:=c5

Tell simulator to start scan with desired window parameters. Point cloud is published simultaneously. Once scan is finished, it will store the complete point cloud with given file_name on folder specified in ROS param server as /pointcloud_folder (default: package leica_scanstation_utils/pointclouds).

rosservice call /c5/scan "{file_name: 'scan_sim', vertical_res: 512, horizontal_res: 1024, pan_center: 0.0, tilt_center: 0.0, width: 2, height: 2}"

Dependencies

• ROS Kinetic // ROS Melodic

• PCL:

1. Boost, Flann, Eigen3

        sudo apt-get install libboost1.58* libflann1.8 libeigen3-dev

2. PCL-ROS y PCL-CONVERSIONS

        sudo apt-get install ros-$ROS_DISTRO-pcl-*

• Leica packages:

1. [leica_scanstation_msgs](https://github.com/fada-catec/leica_scanstation/tree/master/leica_scanstation_msgs)

2. [leica_scanstation_utils](https://github.com/fada-catec/leica_scanstation/tree/master/leica_scanstation_utils)

Doc

    cd ~/catkin_ws/src/leica_gazebo_simulation
    rosdoc_lite .
    google-chrome doc/html/index.html

Acknowledgement

Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu

This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

Help

Ines M. Lara - imlara@catec.aero Other community or team contact