A repository for the thermal_cam which provices ros nodes to fuse 2D thermal images and 3d pointclouds.

Volksbot developed by Fraunhofer IAIS Germany.

• Maxon motor system
• Dynamixel based gripper system
• 3D Scanner based on a LMS1xx sensor and a rotation unit
• Ackermann steering system

• Installation of neccesary packages

rosdep install 3DLSKdriver (For Eigen3 and PCL)

rosmake 3DLSKdriver

• Connect the laser scanner to your computer. Both devices, your comptuer and the scanner device should be in the same network.
  • Computer: 192.168.0.x (netmask 255.255.255.0)
  • Scanner: 192.168.0.12
  • ifconfig eth9 192.168.0.12 netmask 255.255.255.0 up
• The rotation device is connected via USB. You have to set neccessary device permissions
  • sudo chmod 777 /dev/ttyUSB*
• The IP of the laser scanner has to be configured in the following launch File: lms1xx_3dls_x.launch

• The rotational velocity and the number of ticker per round can be set in rotary_3dls_x.launch

• Start up the scanning system

roslaunch 3DLSKdriver scanmode_multi.launch

• Use Rviz to see the created pointclouds

rosrun rviz rviz -d rviz_config.rviz

• There are a couple of launch files in the package
  • lms1xx.launch to start the scanner unit
  • rotary_3dls... to start the rotation unit
  • scan2cloud... to created a pointcloud from several scans
  • cloud2pcd... to convert a cloud to a pcd file