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Commit a1e20858 authored by René Ebeling's avatar René Ebeling
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Remove outdated installation documentation and add new requirements and launch...

Remove outdated installation documentation and add new requirements and launch files for serial to point cloud package
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# 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.
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
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
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
......@@ -14,6 +14,7 @@
<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>
......
[develop]
script_dir=$base/lib/serial_to_pcl
[install]
install_scripts=$base/lib/serial_to_pcl
\ No newline at end of file
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',
],
},
)
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