diff --git a/Install Documentation/Encountered_Errors_and_Solutions b/Install_Documentation/Encountered_Errors_and_Solutions
similarity index 100%
rename from Install Documentation/Encountered_Errors_and_Solutions
rename to Install_Documentation/Encountered_Errors_and_Solutions
diff --git a/Install_Documentation/README.md b/Install_Documentation/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d4bee6690aa7791ee51dba3571ef68832752bc2c
--- /dev/null
+++ b/Install_Documentation/README.md
@@ -0,0 +1,55 @@
+# Installation and Getting Started Guide
+
+Follow these steps to install and get started with the `robot-sensor` repository:
+
+## Prerequisites
+
+Ensure you have the following installed on your system:
+- **Git**: [Download and install Git](https://git-scm.com/downloads)
+- **Python 3.8+**: [Download and install Python](https://www.python.org/downloads/)
+- **pip**: Comes pre-installed with Python, or install it using `python -m ensurepip --upgrade`
+- Any additional dependencies (listed in `requirements.txt`)
+
+## Installation
+
+1. **Clone the Repository**:
+ ```bash
+ git clone https://git-ce.rwth-aachen.de/rene.ebeling/robot-sensor.git
+ ```
+ ```
+ cd ~/robot-sensor/
+ ```
+
+3. **Install Dependencies**:
+ ```bash
+ pip install -r /Install_Documentation/requirements.txt
+ ```
+
+## Getting Started
+
+1. **Build the Workspace**:
+ ```bash
+ cd ~/robot-sensor/workspaces/COLCON_WS
+ ```
+ ```bash
+ colcon build
+ ```
+2. **Source the Workspace and ROS2 installation**:
+ Ensure you are in the COLCON_WS Directory
+ ```bash
+ source install/setup.bash
+ source /opt/ros/<ROSDISTRO>/setup.bash
+ ```
+
+3. **Verify Installation**:
+ Open your browser or terminal and follow the instructions provided by the application.
+
+## Troubleshooting
+
+- If you encounter issues, ensure all prerequisites are installed correctly.
+- Check for missing dependencies or version mismatches.
+
+## Additional Resources
+
+- Refer to the [Wiki](https://github.com/your-username/robot-sensor/wiki) for detailed documentation.
+- Open an issue on the [GitHub Issues page](https://github.com/your-username/robot-sensor/issues) for support.
diff --git a/Install Documentation/comand_cheat_sheet b/Install_Documentation/comand_cheat_sheet
similarity index 100%
rename from Install Documentation/comand_cheat_sheet
rename to Install_Documentation/comand_cheat_sheet
diff --git a/Install_Documentation/installed_packages.txt b/Install_Documentation/installed_packages.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50493a1b43960cffc272ae09cec2f9f1ff039d16
--- /dev/null
+++ b/Install_Documentation/installed_packages.txt
@@ -0,0 +1,362 @@
+Package Version
+------------------------------------ ----------------
+ackermann-msgs 2.0.2
+action-msgs 1.2.1
+action-tutorials-interfaces 0.20.5
+action-tutorials-py 0.20.5
+actionlib-msgs 4.8.0
+actuator-msgs 0.0.1
+ament-clang-format 0.12.12
+ament-cmake-test 1.3.11
+ament-copyright 0.12.12
+ament-cppcheck 0.12.12
+ament-cpplint 0.12.12
+ament-flake8 0.12.12
+ament-index-python 1.4.0
+ament-lint 0.12.12
+ament-lint-cmake 0.12.12
+ament-package 0.14.0
+ament-pep257 0.12.12
+ament-uncrustify 0.12.12
+ament-xmllint 0.12.12
+angles 1.15.0
+appdirs 1.4.4
+apturl 0.5.2
+argcomplete 1.8.1
+attrs 21.2.0
+Babel 2.8.0
+bcrypt 3.2.0
+beautifulsoup4 4.10.0
+beniget 0.4.1
+blinker 1.4
+bloom 0.12.0
+bond 4.1.2
+breezy 3.2.1
+Brlapi 0.8.3
+Brotli 1.0.9
+builtin-interfaces 1.2.1
+cascade-lifecycle-msgs 1.1.0
+catkin-pkg 1.0.0
+catkin-pkg-modules 1.0.0
+certifi 2020.6.20
+chardet 4.0.0
+click 8.0.3
+colcon-argcomplete 0.3.3
+colcon-bash 0.5.0
+colcon-cd 0.2.1
+colcon-cmake 0.2.29
+colcon-common-extensions 0.3.0
+colcon-core 0.19.0
+colcon-defaults 0.2.9
+colcon-devtools 0.3.0
+colcon-installed-package-information 0.2.1
+colcon-library-path 0.2.1
+colcon-metadata 0.2.5
+colcon-mixin 0.2.3
+colcon-notification 0.3.0
+colcon-output 0.2.13
+colcon-override-check 0.0.1
+colcon-package-information 0.4.0
+colcon-package-selection 0.2.10
+colcon-parallel-executor 0.3.0
+colcon-pkg-config 0.1.0
+colcon-powershell 0.4.0
+colcon-python-setup-py 0.2.9
+colcon-recursive-crawl 0.2.3
+colcon-ros 0.5.0
+colcon-test-result 0.3.8
+colcon-zsh 0.5.0
+colorama 0.4.4
+command-not-found 0.3
+composition-interfaces 1.2.1
+configobj 5.0.6
+control-msgs 4.8.0
+controller-manager 2.50.0
+controller-manager-msgs 2.50.0
+cov-core 1.15.0
+coverage 6.2
+cryptography 3.4.8
+cupshelpers 1.0
+cv-bridge 3.2.1
+cycler 0.11.0
+dbus-python 1.2.18
+decorator 4.4.2
+defer 1.0.6
+demo-nodes-py 0.20.5
+Deprecated 1.2.13
+diagnostic-msgs 4.8.0
+diagnostic-updater 4.0.3
+distlib 0.3.4
+distro 1.7.0
+distro-info 1.1+ubuntu0.2
+docutils 0.17.1
+domain-coordinator 0.10.0
+dulwich 0.20.31
+duplicity 0.8.21
+dwb-msgs 1.1.18
+empy 3.3.4
+example-interfaces 0.9.3
+examples-rclpy-executors 0.15.3
+examples-rclpy-minimal-action-client 0.15.3
+examples-rclpy-minimal-action-server 0.15.3
+examples-rclpy-minimal-client 0.15.3
+examples-rclpy-minimal-publisher 0.15.3
+examples-rclpy-minimal-service 0.15.3
+examples-rclpy-minimal-subscriber 0.15.3
+fastbencode 0.0.5
+fasteners 0.14.1
+fastimport 0.9.14
+flake8 4.0.1
+fonttools 4.29.1
+fs 2.4.12
+future 0.18.2
+gast 0.5.2
+gazebo-msgs 3.9.0
+generate-parameter-library-py 0.4.0
+geometry-msgs 4.8.0
+gpg 1.16.0
+graph-msgs 0.2.0
+html5lib 1.1
+httplib2 0.20.2
+idna 3.3
+image-geometry 3.2.1
+importlib-metadata 4.6.4
+iniconfig 1.1.1
+interactive-markers 2.3.2
+jeepney 0.7.1
+Jinja2 3.0.3
+joint-state-publisher 2.4.0
+joint-state-publisher-gui 2.4.0
+keyring 23.5.0
+kiwisolver 1.3.2
+language-selector 0.1
+lark 1.1.1
+laser-geometry 2.4.0
+launch 1.0.8
+launch-param-builder 0.1.1
+launch-ros 0.19.9
+launch-testing 1.0.8
+launch-testing-ros 0.19.9
+launch-xml 1.0.8
+launch-yaml 1.0.8
+launchpadlib 1.10.16
+lazr.restfulclient 0.14.4
+lazr.uri 1.0.6
+lifecycle-msgs 1.2.1
+lockfile 0.12.2
+logging-demo 0.20.5
+louis 3.20.0
+lxml 4.8.0
+lz4 3.1.3+dfsg
+macaroonbakery 1.3.1
+Mako 1.1.3
+map-msgs 2.1.0
+MarkupSafe 2.0.1
+matplotlib 3.5.1
+mccabe 0.6.1
+mercurial 6.1.1
+message-filters 4.3.7
+monotonic 1.6
+more-itertools 8.10.0
+moveit-configs-utils 2.5.9
+moveit-msgs 2.2.1
+mpi4py 3.1.3
+mpmath 0.0.0
+nav-2d-msgs 1.1.18
+nav-msgs 4.8.0
+nav2-common 1.1.18
+nav2-msgs 1.1.18
+nav2-simple-commander 1.0.0
+netifaces 0.11.0
+nose2 0.9.2
+notify2 0.3
+numpy 1.21.5
+oauthlib 3.2.0
+object-recognition-msgs 2.0.0
+octomap-msgs 2.0.1
+olefile 0.46
+osrf-pycommon 2.1.6
+packaging 21.3
+paramiko 2.9.3
+patiencediff 0.2.1
+pcl-msgs 1.0.0
+pendulum-msgs 0.20.5
+pexpect 4.8.0
+Pillow 9.0.1
+pip 22.0.2
+plansys2-msgs 2.0.9
+pluggy 0.13.0
+ply 3.11
+protobuf 3.12.4
+psutil 5.9.0
+ptyprocess 0.7.0
+py 1.10.0
+pybind11 2.9.1
+pycairo 1.20.1
+pycodestyle 2.8.0
+pycups 2.0.1
+pydocstyle 6.1.1
+pydot 1.4.2
+pyflakes 2.4.0
+PyGithub 1.55
+pyglet 1.5.31
+Pygments 2.11.2
+PyGObject 3.42.1
+pygraphviz 1.7
+PyJWT 2.3.0
+pymacaroons 0.13.0
+PyNaCl 1.5.0
+pyparsing 2.4.7
+PyQt5 5.15.6
+PyQt5-sip 12.9.1
+pyRFC3339 1.1
+pyserial 3.5
+pytest 6.2.5
+pytest-cov 3.0.0
+python-apt 2.4.0+ubuntu4
+python-dateutil 2.8.1
+python-debian 0.1.43+ubuntu1.1
+python-gitlab 2.10.1
+python-qt-binding 1.1.2
+pythran 0.10.0
+pytz 2022.1
+pyxdg 0.27
+PyYAML 5.4.1
+qt-dotgraph 2.2.4
+qt-gui 2.2.4
+qt-gui-cpp 2.2.4
+qt-gui-py-common 2.2.4
+quality-of-service-demo-py 0.20.5
+rcl-interfaces 1.2.1
+rclpy 3.3.16
+rcutils 5.1.6
+reportlab 3.6.8
+requests 2.25.1
+requests-toolbelt 0.9.1
+resource-retriever 3.1.3
+rmw-dds-common 1.6.0
+roman 3.3
+ros-gz-interfaces 0.244.12
+ros2-controllers-test-nodes 2.44.0
+ros2action 0.18.12
+ros2bag 0.15.14
+ros2cli 0.18.12
+ros2component 0.18.12
+ros2controlcli 2.50.0
+ros2doctor 0.18.12
+ros2interface 0.18.12
+ros2launch 0.19.9
+ros2lifecycle 0.18.12
+ros2multicast 0.18.12
+ros2node 0.18.12
+ros2param 0.18.12
+ros2pkg 0.18.12
+ros2run 0.18.12
+ros2service 0.18.12
+ros2test 0.4.0
+ros2topic 0.18.12
+rosbag2-interfaces 0.15.14
+rosbag2-py 0.15.14
+rosdep 0.25.1
+rosdep-modules 0.25.1
+rosdistro 1.0.1
+rosdistro-modules 1.0.1
+rosgraph-msgs 1.2.1
+rosidl-adapter 3.1.6
+rosidl-cli 3.1.6
+rosidl-cmake 3.1.6
+rosidl-generator-c 3.1.6
+rosidl-generator-cpp 3.1.6
+rosidl-generator-py 0.14.4
+rosidl-parser 3.1.6
+rosidl-runtime-py 0.9.3
+rosidl-typesupport-c 2.0.2
+rosidl-typesupport-cpp 2.0.2
+rosidl-typesupport-fastrtps-c 2.2.2
+rosidl-typesupport-fastrtps-cpp 2.2.2
+rosidl-typesupport-introspection-c 3.1.6
+rosidl-typesupport-introspection-cpp 3.1.6
+rospkg-modules 1.6.0
+rpyutils 0.2.1
+rqt-action 2.0.1
+rqt-bag 1.1.5
+rqt-bag-plugins 1.1.5
+rqt-console 2.0.3
+rqt-graph 1.3.1
+rqt-gui 1.1.7
+rqt-gui-py 1.1.7
+rqt-msg 1.2.0
+rqt-plot 1.1.4
+rqt-publisher 1.5.0
+rqt-py-common 1.1.7
+rqt-py-console 1.0.2
+rqt-reconfigure 1.1.2
+rqt-service-caller 1.0.5
+rqt-shell 1.0.2
+rqt-srv 1.0.3
+rqt-topic 1.5.0
+rtree 1.4.0
+scipy 1.8.0
+scripts 3.9.0
+SecretStorage 3.3.1
+sensor-msgs 4.8.0
+sensor-msgs-py 4.8.0
+serial-to-pcl 0.0.0
+setuptools 59.6.0
+shape-msgs 4.8.0
+six 1.16.0
+slam-toolbox 2.6.9
+smclib 4.1.2
+snowballstemmer 2.2.0
+soupsieve 2.3.1
+srdfdom 2.0.7
+sros2 0.10.6
+ssh-import-id 5.11
+statistics-msgs 1.2.1
+std-msgs 4.8.0
+std-srvs 4.8.0
+stereo-msgs 4.8.0
+sympy 1.9
+systemd-python 234
+teleop-twist-keyboard 2.4.0
+terminator 2.1.1
+tf2-geometry-msgs 0.25.12
+tf2-kdl 0.25.12
+tf2-msgs 0.25.12
+tf2-py 0.25.12
+tf2-ros-py 0.25.12
+tf2-tools 0.25.12
+theora-image-transport 2.5.3
+toml 0.10.2
+topic-monitor 0.20.5
+trajectory-msgs 4.8.0
+trimesh 4.6.8
+turtlesim 1.4.2
+twist-mux-msgs 3.0.1
+typeguard 2.2.2
+ubuntu-drivers-common 0.0.0
+ubuntu-pro-client 8001
+ufoLib2 0.13.1
+ufw 0.36.1
+unattended-upgrades 0.1
+unicodedata2 14.0.0
+unique-identifier-msgs 2.2.1
+ur-dashboard-msgs 2.7.0
+ur-moveit-config 2.7.0
+ur-msgs 2.2.0
+ur-robot-driver 2.7.0
+urdfdom-py 1.2.1
+urllib3 1.26.5
+usb-creator 0.3.7
+vcstool 0.3.0
+vcstools 0.1.42
+vision-msgs 4.1.1
+visualization-msgs 4.8.0
+wadllib 1.3.6
+webencodings 0.5.1
+wheel 0.37.1
+wrapt 1.13.3
+xacro 2.0.13
+xdg 5
+xkit 0.0.0
+zipp 1.0.0
diff --git a/Install_Documentation/requirements.txt b/Install_Documentation/requirements.txt
new file mode 100644
index 0000000000000000000000000000000000000000..970dd2b77a2ada1c82663d20a6b341171716a421
--- /dev/null
+++ b/Install_Documentation/requirements.txt
@@ -0,0 +1,10 @@
+setuptools>=58.0.0
+rclpy>=1.0.0
+numpy>=1.21.5
+pyserial>=3.5
+trimesh>=4.6.8
+scipy>=1.8.0
+sensor_msgs_py>=4.8.0
+std_msgs>=4.8.0
+tf2_ros>=0.25.12
+rtree>=1.4.0
\ No newline at end of file
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/launch/random_to_moveit_stop_launch.py b/workspaces/COLCON_WS/src/serial_to_pcl/launch/random_to_moveit_stop_launch.py
new file mode 100644
index 0000000000000000000000000000000000000000..9af9e85351adb8038e9d39cc419bb56dbe1481c7
--- /dev/null
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/launch/random_to_moveit_stop_launch.py
@@ -0,0 +1,27 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='serial_to_pcl',
+ executable='pcl_filter_node',
+ name='pcl_filter_node',
+ output='screen',
+ parameters=[]
+ ),
+ Node(
+ package='serial_to_pcl',
+ executable='moveit_stop_node',
+ name='moveit_stop_node',
+ output='screen',
+ parameters=[]
+ ),
+ Node(
+ package='serial_to_pcl',
+ executable='random_pcl_node',
+ name='random_pcl_node',
+ output='screen',
+ parameters=[]
+ ),
+ ])
\ No newline at end of file
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/package.xml b/workspaces/COLCON_WS/src/serial_to_pcl/package.xml
index 4abfc908eca66846628362c1c2e38b98ac8d4998..a67e0cdff13aaf47c87a0b860085a36ebbc00540 100644
--- a/workspaces/COLCON_WS/src/serial_to_pcl/package.xml
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/package.xml
@@ -14,7 +14,8 @@
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>numpy</exec_depend>
<exec_depend>pyserial</exec_depend>
-
+ <exec_depend>ros2launch</exec_depend>
+
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/setup.cfg b/workspaces/COLCON_WS/src/serial_to_pcl/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..08bf7800eb282e2bf9871cfc134bf68388fdd2fd
--- /dev/null
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/serial_to_pcl
+[install]
+install_scripts=$base/lib/serial_to_pcl
\ No newline at end of file
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/setup.py b/workspaces/COLCON_WS/src/serial_to_pcl/setup.py
index 5daa3e48ddd38861e5ab9398bec8ee1ca28e1efc..709c75d348f95befe8a4982b975c5664f86a8925 100755
--- a/workspaces/COLCON_WS/src/serial_to_pcl/setup.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/setup.py
@@ -1,5 +1,6 @@
from setuptools import find_packages, setup
-
+import os
+from glob import glob
package_name = 'serial_to_pcl'
setup(
@@ -10,10 +11,22 @@ setup(
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+ ],
+ install_requires=[
+ 'setuptools>=58.0.0', # Required for building and installing the package
+ 'rclpy>=1.0.0', # ROS 2 Python client library
+ 'numpy>=1.21.0', # For numerical operations
+ 'pyserial>=3.5', # For serial communication
+ 'trimesh>=4.6.8', # For 3D mesh operations
+ 'scipy>=1.8.0', # For spatial transformations
+ 'sensor_msgs_py>=4.8.0', # For working with PointCloud2 messages
+ 'std_msgs>=4.8.0', # For standard ROS 2 message types
+ 'tf2_ros>=0.25.12', # For ROS 2 transforms
+ 'rtree>=1.4.0', # For spatial indexing (used in trimesh)
],
- install_requires=['setuptools'],
zip_safe=True,
- maintainer='sochi',
+ maintainer='Rene Ebeling',
maintainer_email='hj703144@igmr.rwth-aachen.de',
description='Reads data from serial and converts it to a PointCloud2 message.',
license='MIT',
@@ -24,6 +37,8 @@ setup(
'pcl_rob_node = serial_to_pcl.pcl_rob_node:main',
'pcl_rob_v2_node = serial_to_pcl.pcl_rob_v2_node:main',
'random_pcl_node = serial_to_pcl.random_pcl:main',
+ 'moveit_stop_node = serial_to_pcl.moveit_stop:main',
+ 'pcl_filter_node = serial_to_pcl.test_transform:main',
],
},
)