leica_gazebo_simulation repository

Repository Summary

Checkout URI https://github.com/fada-catec/leica_gazebo_simulation.git
VCS Type git
VCS Version master
Last Updated 2021-02-22
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
leica_gazebo_simulation 0.0.0

README

LEICA SCANSTATION C5

License Build Status

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

simulator

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

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


rosin_logo

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

eu_flag

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

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/fada-catec/leica_gazebo_simulation.git
VCS Type git
VCS Version master
Last Updated 2021-02-22
Dev Status MAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
leica_gazebo_simulation 0.0.0

README

LEICA SCANSTATION C5

License Build Status

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

simulator

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

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


rosin_logo

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

eu_flag

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

CONTRIBUTING

No CONTRIBUTING.md found.