Skip to content
Snippets Groups Projects
Select Git revision
  • 6d422243ffed1fa5f36791abf5e6684da4017e2c
  • main default protected
  • Vincent
  • home
4 results

README.md

Blame
  • Rene Ebeling's avatar
    René Ebeling authored
    Update README.md to add a new GIF demonstrating dense PointCloud visualization and filtering around a UR10 robot
    6d422243
    History
    README.md 8.17 KiB
    IGMR

    Robot Sensor Project

    This repository contains code for interfacing multiple VL53L7CX Time-of-Flight (ToF) sensors with a robotic system. Each sensor measures distances in an 8x8 grid and communicates via the I2C protocol. The sensor data is collected and formatted into a JSON object, which can be decoded in a ROS2 node and used to generate a PointCloud2 sensor topic for robot navigation, obstacle detection, or mapping.

    This GIF demonstrates the initial attempts to use two VL53L5CX Time-of-Flight (ToF) sensors to capture distance measurements and visualize them in RViz2. Sensor in Action

    In the following GIF, you can see my first attempt to filter a PointCloud using STL meshes, visualized in RViz2, with the robot simulated in Gazebo Classic. Self Colision Detection prove of Conzept

    This GIF illustrates a dense random PointCloud surrounding a UR10 robot simulated in Gazebo Classic and visualized in RViz2. Initially, the unfiltered PointCloud is displayed, followed by a filtered view highlighting points close to the robot in red.

    Simulation Self Detection

    This GIF demonstrates a real robot visualized in RViz2, with its goal state represented in orange. The robot attempts to reach the target position but halts due to an obstacle detected in its trajectory. Trajectory Obstacle Detection Real Robot stopping

    This GIFs provide a quick visual representation of the sensor's functionality and its integration with the robot system.

    Table of Contents

    Overview

    The project enables a robot to interface with multiple VL53L7CX sensors, each configured to measure distances in a 8x8 grid pattern. The robot uses these sensors to gather distance data, which is then formatted as a JSON object for easier handling and integration into robot control systems. The data can be utilized for tasks such as obstacle avoidance, path planning, and more.

    Sensor Example (VL53L7CX)

    VL53L7CX

    The VL53L7CX sensor provides accurate distance measurements using Time-of-Flight (ToF) technology. It features a 8x8 and 4x4 grid of measurement zones, making it ideal for spatial awareness and environmental scanning.

    Features

    • Multiple Sensor Support: Handles up to 18 VL53L7CX sensors connected via I2C.
    • JSON Output: Collects and formats the sensor data into a JSON object, which can be easily transmitted or stored.
    • LED Status Indication: Provides LED feedback to indicate when data is being processed.
    • Integration Ready: Output is designed to be easily integrated into larger systems for navigation or environmental mapping.
    • Custom PCB: Includes a custom PCB design for the VL53L7CX sensors and wiring schematics available in the wiring directory.

    PCB Design PCB Wiring

    • Custom Sensor Holder: Includes a custom-designed sensor holder available in the CAD_Design directory for optimal sensor placement and stability. Multiple versions are provided, along with the f3z Fusion files for further customization. Sensor Holder CAD Design

    • Progress Documentation: Includes a Progress_Documentation directory containing videos that demonstrate the functionality and progress of the project. These videos provide visual insights into the sensor setup, data collection process, and integration with the robot system.