How to connect LiDAR to Laptop and get it's output in Ubuntu 14.04. We are using LiDAR sensor provided by www.scanse.io
LiDAR Real Time Implementation: The tutorial helps beginners in integrating the LiDAR sensor to laptop using Ubuntu 14.04
The tutorials present the way to find out objects in environment, separate the objects in to static and dynamic (scan matching technique) and create separate maps for both information.
Tools: 2D Laser sensor, V-Rep, ROS, PCL.
The video highlights, if we have a single PointCloud2 (topic/pcd) file having complete environment/scan, than how could we separate the objects/clusters from it?
Objectives:
Reading .pcd file having environment map/scan [pcl_xyz.pcd]
Separating clusters repesenting the objects of the environment
Saving separated clusters to separate .pcd files
The video shows the mapping of environment in 2D using ROS and V-Rep. Two different maps static_map and dynamic_map are created that are depicting static and dynamic obstacles separately. The results are achieved using scan matching technique. Initially environment is mapped using octomap_server.
Topic detail:
Projected_map === > Environment's complete map
Static_map ===> Environment's static part
Dynamic_map ===> Environment's dynamic part
Working principle:
A. When an obstacle moves
It is removed from static map AND
It is placed on dynamic map
B. When NO obstacle moves
Obstacles in static map becomes sharp gradually
Obstacles in dynamic map becomes fade gradually
C. After some time, when environment is fully static
Static map will be the complete map having all obstacles
Dynamic map will show no obstacle
The tutorials present how an object can be moved on the predefined path in V-Rep simulator. Steps to be followed are mentioned here.
For this we first have to create a Path.
Create a Cuboid in the environment
Make a cuboid as a child of the Path
Add a script with the cuboid for motion control
Set the starting point of the cuboid
Start the simulation