From e80b24291776905716c9878f99b3669df337a9ab Mon Sep 17 00:00:00 2001
From: Rene Ebeling <rene.ebeling@alumni.fh-aachen.de>
Date: Sat, 10 May 2025 11:21:57 +0200
Subject: [PATCH] Update mesh dimensions and publisher topic for point cloud
processing
---
.../src/serial_to_pcl/serial_to_pcl/moveit_stop.py | 12 ++++++------
.../serial_to_pcl/serial_to_pcl_node.py | 2 +-
.../serial_to_pcl/serial_to_pcl/test_transform.py | 8 ++++----
3 files changed, 11 insertions(+), 11 deletions(-)
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/moveit_stop.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/moveit_stop.py
index 31fd198..a053db1 100644
--- a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/moveit_stop.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/moveit_stop.py
@@ -35,8 +35,8 @@ class PointCloudProcessor(Node):
# Create meshes 5cm larger than the original example
self.meshes_static = [
- trimesh.creation.cylinder(radius=0.2, height=0.8), # Cylinder for upper_arm_link
- trimesh.creation.cylinder(radius=0.2, height=1.05) # Cylinder for forearm_link
+ trimesh.creation.cylinder(radius=0.3, height=0.8), # Cylinder for upper_arm_link
+ trimesh.creation.cylinder(radius=0.3, height=1.05) # Cylinder for forearm_link
]
# Rotate cylinders 90 degrees around the y-axis
@@ -53,11 +53,11 @@ class PointCloudProcessor(Node):
mesh.apply_transform(translation_matrix_x)
# Move the upper_arm_link cylinder 10cm in the positive x direction
- translation_matrix_upper_arm = trimesh.transformations.translation_matrix([0, 0, 0])
+ translation_matrix_upper_arm = trimesh.transformations.translation_matrix([-0.15, 0, 0])
self.meshes_static[0].apply_transform(translation_matrix_upper_arm)
# Move the forearm_link cylinder 5cm in the negative x direction
- translation_matrix_forearm = trimesh.transformations.translation_matrix([-0.05, 0, 0])
+ translation_matrix_forearm = trimesh.transformations.translation_matrix([0.05, 0, 0])
self.meshes_static[1].apply_transform(translation_matrix_forearm)
# Move cylinders 10cm in the positive z direction
@@ -94,8 +94,8 @@ class PointCloudProcessor(Node):
# Publish the point clouds
self.out_zone_pub.publish(self.create_point_cloud(points[~inside_robot], self.perspective_frame))
self.in_zone_pub.publish(self.create_point_cloud(points_inside_robot, self.perspective_frame))
- #if len(points_inside_robot) > self.point_threshold:
- # self.stop_trajectory()
+ if len(points_inside_robot) > self.point_threshold:
+ self.stop_trajectory()
def transform_mesh(self, transform, mesh_static):
translation = transform.transform.translation
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
index 406dc0c..5345428 100644
--- a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/serial_to_pcl_node.py
@@ -33,7 +33,7 @@ class SerialListPublisher(Node):
self.parent_frame = self.get_parameter('parent_frame').get_parameter_value().string_value # Get the parameter value
# Create a publisher for PointCloud2 messages
- self.pcd_publisher = self.create_publisher(PointCloud2, 'pcd', 10)
+ self.pcd_publisher = self.create_publisher(PointCloud2, 'pcl', 10)
# Open the serial port for communication
self.serial_port = serial.Serial(serial_port, baudrate, timeout=None)
diff --git a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py
index 064c3b8..9601253 100644
--- a/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py
+++ b/workspaces/COLCON_WS/src/serial_to_pcl/serial_to_pcl/test_transform.py
@@ -24,8 +24,8 @@ class PointCloudProcessor(Node):
# Create cylinders
self.meshes_static = [
- trimesh.creation.cylinder(radius=0.18, height=0.9), # Cylinder for upper_arm_link (10 cm shorter)
- trimesh.creation.cylinder(radius=0.18, height=1.0) # Cylinder for forearm_link
+ trimesh.creation.cylinder(radius=0.25, height=0.9), # Cylinder for upper_arm_link (10 cm shorter)
+ trimesh.creation.cylinder(radius=0.25, height=1.0) # Cylinder for forearm_link
]
# Rotate cylinders 90 degrees around the y-axis
@@ -46,8 +46,8 @@ class PointCloudProcessor(Node):
self.meshes_static[0].apply_transform(translation_matrix_upper_arm)
# Move the upper_arm_link cylinder 10cm in the positive x direction
- translation_matrix_upper_arm = trimesh.transformations.translation_matrix([-0.05, 0, 0])
- self.meshes_static[1].apply_transform(translation_matrix_upper_arm)
+ translation_forearm = trimesh.transformations.translation_matrix([0, 0, 0])
+ self.meshes_static[1].apply_transform(translation_forearm)
# Move cylinders 10cm in the positive z direction
translation_matrix_z = trimesh.transformations.translation_matrix([0, 0, 0.1])
--
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