diff --git a/README.md b/README.md index 7ccd8de80c125678b009fdc70cd16f1f74638f30..e0f7dad3e4954b742c165e06ae39453caeb17383 100644 --- a/README.md +++ b/README.md @@ -5,21 +5,33 @@ 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**. - + +<p align="center"> + <img src="/images/rviz2_screencast_2_vl53l5cx_1512025.gif" alt="Sensor in Action" width="400"> +</p> 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. +<p align="center"> + <img src="/images/self_detection_prove_of_conzept.gif" alt="Self Collision Detection Proof of Concept" width="400"> +</p> - +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. +<p align="center"> + <img src="/images/Shows_simulation_that_detects_close_points.gif" alt="Simulation Self Detection" width="400"> +</p> 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. - - + +<p align="center"> + <img src="/Progress_Documentation/trajectory_obstacle_detection.gif" alt="Trajectory Obstacle Detection" width="400"> +</p> + +<p align="center"> + <img src="/Progress_Documentation/real_Robot_trajectory_obstacle_detection.gif" alt="Real Robot Stopping" width="400"> +</p> This GIFs provide a quick visual representation of the sensor's functionality and its integration with the robot system.