About

This project includes simulation of binocular laser profile scanner with rotational table.

Requirements

• ROS Noetic
• ROS Control and ROS Controllers
• Gazebo
• Rviz
• OpenCV
• PCL Viewer

Installation

• Follow the ROS Noetic Installation steps in the link according to Desktop-Full Install. After that, ROS, Gazebo, RViz and OpenCV installations will be completed.

• Install the ROS Control and ROS Controllers packages by executing:

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers

• Install PCL Viewer by executing:

sudo apt install libpcl-dev pcl-tools

Environment Setup

• Source following bash script for using ROS terminal commands. If you do not want to type this command every time you open a terminal, you can add it to ~/.bashrc.

source /opt/ros/noetic/setup.bash

• Creating catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

How to Use?

• Clone repository and build package:

cd ~/catkin_ws/src/
git clone https://github.com/aliyildiz1/binocular_laser_profile_scanner.git
cd ..
catkin_make

• In order to load texture to projector, you need to copy texture image to /usr/share/gazebo-11/media/materials/textures/. Copy texture image by executing:

sudo cp ~/catkin_ws/src/binocular_laser_profile_scanner/projector_textures/line_laser_5p.png /usr/share/gazebo-11/media/materials/textures

• Launch simulation:

source ~/catkin_ws/devel/setup.bash
roslaunch binocular_laser_profile_scanner scanner_simulation.launch 

• Open another terminal and start scanning:

cd ~/catkin_ws
source devel/setup.bash
rosrun binocular_laser_profile_scanner main.py

• After the scanning is completed, the point cloud is saved in the ~/catkin_ws/src/binocular_laser_profile_scanner/scans folder. To visualize point cloud, execute following commands:

cd ~/catkin_ws/src/binocular_laser_profile_scanner/scans/
pcl_viewer scanned_point_cloud.pcd

Test Video