hany606 / 3d-scanner-ros

3D-scanner-ROS

Note: My work is mainly in the "dev" and registration branchs.

Dependencies:

Complete pack of ROS Melodic and some control staff:

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

Quick Start

Gazebo:

    roslaunch gazebo_ros empty_world.launch 

Spawn:

    roslaunch scanner scanner_control.launch

Rviz (errors will hide if run scanner_control.launch):

    roslaunch scanner scanner_rviz.launch 

Moving script:

    ### Keep signs like here or else picture will be flipped
    rosrun scanner main.py -1.57 1.57

Example of hand by Moving Joints:

    rostopic pub /scanner/joint2_position_controller/command std_msgs/Float64 "data: -0.9"

TODO:

• Kinect drivers
• Points cloud to RViz
• Add rqt
• 3D model building algorithm