A ROS driver for 3D scanning based on SICK LD-MRS and FLIR PTU-46

• Python
  • rospy, psutil, pickle, pandas
• C
• ROS
• optional: GenoM3

• Install RobotoPKG
• After run ./bootstrap:

% cd robotpkg/architecture/genom3
% make update
% make
% make install

% cd robotpkg/interfaces/openrobots-idl
% make update
% make
% make install

• Setup (bash version) with $ROS_VERSION, your ros version :

% source /opt/ros/$ROS_VERSION/setup.bash
% export INSTALL_PATH=/{YOUR_INSTALL_PATH}
% export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$INSTALL_PATH/lib/pkgconfig
% export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$INSTALL_PATH/src/ros-nodes:$INSTALL_PATH/share
% export PYTHONPATH=/opt/ros/groovy/lib/python2.7/dist-packages:$INSTALL_PATH/lib/python2.7/site-packages
% echo "setup_ros ok"

• Clone the project and install manually the modules in your workspace: platine_light and LiDARldmrs:
  • optional to generate conf files from genom3 if edit the .idl, .gen, and/or codels files

    % genom3 skeleton -m auto platine_light.gen
    % genom3 skeleton -m auto LiDARldmrs.gen

% autoreconf -vi
% mkdir build && cd build
% ../configure --prefix=${YOUR_INSTALL_PATH} --with-templates=ros/server,ros/client/c,ros/client/ros
% make
% make install

• Edit the file sickScan.py if you need to change parameters e.g: ip address, port, dev_name, output paths, etc

• Launch roscore
• In bin folder of YOUR_INSTALL_PATH run the modules:

    % ./platine_light
    % ./LiDARldmrs

• ROS actions, ROS services and ROS topics

% rosnode list
% rosaction list
% rostopic list

• Launch the rover nodes ( see bash_functions file for more information )
• If you nees to include the rover position to the point cloud

    % ./rmp440-ros
    % ./joystick-ros
    % rosaction call /rmp440/Init "10.40.40.40:8080"
    % rosservice call /rmp440/connect_port "{local: 'Joystick', remote: 'joystick/device/Logitech_Gamepad_F710'}"
    % rosaction call /rmp440/Gyro '{params: {port: "/dev/ttyS4", mode: {value: 1}, type: {value: 3}, latitude: 43, woffset: 0}}'
    % rosaction call /rmp440/JoystickOn {}

• In LAAS_LDMRS-PTU folder :

% python sickScan.py -h

• For a quick test scanning from a tilt position -45 deg to 5 deg with interes around 0 deg and an index resolution of 0.1:

% python sickScan.py -45 5 0 0.1

Then follow the steps, adding a name for the ouput file (+ enter) and a description of the experiment ( + enter). When it finished, a .txt file must be automatically generated with the indicated name + the date in the folder .../data/raw.

• Converting the raw data
  • To convert the generated file to XYZ new file you must use the file raw2xyz.py located on offline_tools folder

% python raw2xyz.py input_file_path

• Converting to xyz .log data check the data column-separator, column-number and change if is necessary

% python xyz2log.py input_file_path

• Calibration files: once you have the calibration data you can uses the calbration files with MATLAB by changing the path of your input file

% data = load('path_of_your_calibration_data_file.txt');

or

% data = load path_of_your_calibration_data_file.mat ;

GenoM3

• Harold F MURCIA - Initial work from: Christophe REYMANN and Matthieu HERRB; LAAS-CNRS, RIS-TEAM