Update README.md to add a new GIF demonstrating dense PointCloud visualization and filtering around a UR10 robot

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.
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.
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.
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.
This GIFs provide a quick visual representation of the sensor's functionality and its integration with the robot system.
Table of Contents
- Overview
- Features
- Hardware Requirements
- Software Requirements
- How It Works
- Example Output
- License
- Troubleshooting
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)
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.
-
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. -
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.