Indoor 3D Scanning based on two 2D LiDAR sensor and SLAM

Requirments

• rplidar a series

Tested on Ubuntu 20.04LTS, ROS noetic, rplidar a3(a2)

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Setup

1. Two line ros noetic install command

wget -c https://raw.githubusercontent.com/qboticslabs/ros_install_noetic/master/ros_install_noetic.sh && chmod +x ./ros_install_noetic.sh && ./ros_install_noetic.sh

2. Install pcl-ros for ros noetic

sudo apt install ros-noetic-pcl-ros

3. Build using caktin-make

catkin_make

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Node, Topic diagram

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Result

• captured point cloud(full pcd file at floot_half.pcd)

demo_capture_resized.mp4

(full capture video available at demo_capture.mp4)

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