diff --git "a/CAD_Designs/gro\303\237e_vl53l7cx_halterung v5 Zeichnung v1.pdf" "b/CAD_Designs/gro\303\237e_vl53l7cx_halterung v5 Zeichnung v1.pdf"
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Binary files /dev/null and "b/CAD_Designs/gro\303\237e_vl53l7cx_halterung v5 Zeichnung v1.pdf" differ
diff --git a/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino b/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino
new file mode 100644
index 0000000000000000000000000000000000000000..01920671d69764d457117e2ab0ed558eedb1481e
--- /dev/null
+++ b/Praxiprojekt_Bericht/18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino
@@ -0,0 +1,506 @@
+/**
+ ******************************************************************************
+ * @file VL53L7CX_Sat_HelloWorld.ino
+ * @author STMicroelectronics
+ * @version V1.0.0
+ * @date 11 November 2021
+ * @brief Arduino test application for the STMicrolectronics VL53L7CX
+ * proximity sensor satellite based on FlightSense.
+ * This application makes use of C++ classes obtained from the C
+ * components' drivers.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2021 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+/*
+ * To use these examples you need to connect the VL53L7CX satellite sensor directly to the Nucleo board with wires as explained below:
+ * pin 1 (GND) of the VL53L7CX satellite connected to GND of the Nucleo board
+ * pin 2 (IOVDD) of the VL53L7CX satellite connected to 3V3 pin of the Nucleo board
+ * pin 3 (AVDD) of the VL53L7CX satellite connected to 5V pin of the Nucleo board
+ * pin 4 (PWREN) of the VL53L7CX satellite connected to pin A5 of the Nucleo board
+ * pin 5 (LPn) of the VL53L7CX satellite connected to pin A3 of the Nucleo board
+ * pin 6 (SCL) of the VL53L7CX satellite connected to pin D15 (SCL) of the Nucleo board
+ * pin 7 (SDA) of the VL53L7CX satellite connected to pin D14 (SDA) of the Nucleo board
+ * pin 8 (I2C_RST) of the VL53L7CX satellite connected to pin A1 of the Nucleo board
+ * pin 9 (INT) of the VL53L7CX satellite connected to pin A2 of the Nucleo board
+ */
+/* Includes ------------------------------------------------------------------*/
+#include <Arduino.h>
+#include <Wire.h>
+#include <ArduinoJson.h>
+#include <vl53l7cx_class.h>
+#include "74HC154.h"
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#define DEV_I2C1 Wire1
+#define DEV_I2C0 Wire
+
+#ifndef LED_BUILTIN
+ #define LED_BUILTIN 13
+#endif
+#define LedPin LED_BUILTIN
+
+#define LPN_PIN0 14
+#define LPN_PIN1 15
+#define LPN_PIN2 9
+#define LPN_PIN3 12
+#define LPN_PIN4 99
+#define LPN_PIN5 99
+#define LPN_PIN6 99
+#define LPN_PIN7 99
+#define LPN_PIN8 99
+#define LPN_PIN9 99
+#define LPN_PIN10 99
+#define LPN_PIN11 99
+#define LPN_PIN12 99
+#define LPN_PIN13 99
+#define LPN_PIN14 99
+#define LPN_PIN15 99
+#define LPN_PIN16 99
+#define LPN_PIN17 99
+
+#define LPN_PIN1 15
+#define I2C_RST_PIN 27
+
+#define LPN_PIN2 9
+
+uint16_t dataPin0 = 18;
+uint16_t latchPin0 = 17;
+uint16_t clockPin0 = 16;
+
+uint16_t dataPin1 = 13;
+uint16_t latchPin1 = 14;
+uint16_t clockPin1 = 15;
+
+uint16_t sensoraddress0 = 0x30;
+uint16_t sensoraddress1 = 0x31;
+uint16_t sensoraddress2 = 0x32;
+uint16_t sensoraddress3 = 0x33;
+uint16_t sensoraddress4 = 0x34;
+uint16_t sensoraddress5 = 0x35;
+uint16_t sensoraddress6 = 0x36;
+uint16_t sensoraddress7 = 0x37;
+uint16_t sensoraddress8 = 0x38;
+
+uint16_t sensoraddress9 = 0x39;
+uint16_t sensoraddress10 = 0x3A;
+uint16_t sensoraddress11 = 0x3B;
+uint16_t sensoraddress12 = 0x3C;
+uint16_t sensoraddress13 = 0x3D;
+uint16_t sensoraddress14 = 0x3E;
+uint16_t sensoraddress15 = 0x3F;
+uint16_t sensoraddress16 = 0x40;
+uint16_t sensoraddress17 = 0x41;
+
+uint16_t wait_for_i2c = 50;
+uint16_t imageWidth = 8;
+uint16_t ranging_frequency = 15;
+pin_size_t SDA_PIN1 = 2;
+pin_size_t SCL_PIN1 = 3;
+JsonDocument doc;
+
+// Components.
+VL53L7CX sensor0(&DEV_I2C0, LPN_PIN0, I2C_RST_PIN);
+VL53L7CX sensor1(&DEV_I2C0, LPN_PIN1, I2C_RST_PIN);
+VL53L7CX sensor2(&DEV_I2C0, LPN_PIN2, I2C_RST_PIN);
+VL53L7CX sensor3(&DEV_I2C0, LPN_PIN3, I2C_RST_PIN);
+VL53L7CX sensor4(&DEV_I2C0, LPN_PIN4, I2C_RST_PIN);
+VL53L7CX sensor5(&DEV_I2C0, LPN_PIN5, I2C_RST_PIN);
+VL53L7CX sensor6(&DEV_I2C0, LPN_PIN6, I2C_RST_PIN);
+VL53L7CX sensor7(&DEV_I2C0, LPN_PIN7, I2C_RST_PIN);
+VL53L7CX sensor8(&DEV_I2C0, LPN_PIN8, I2C_RST_PIN);
+VL53L7CX sensor9(&DEV_I2C1, LPN_PIN9, I2C_RST_PIN);
+VL53L7CX sensor10(&DEV_I2C1, LPN_PIN10, I2C_RST_PIN);
+VL53L7CX sensor11(&DEV_I2C1, LPN_PIN11, I2C_RST_PIN);
+VL53L7CX sensor12(&DEV_I2C1, LPN_PIN12, I2C_RST_PIN);
+VL53L7CX sensor13(&DEV_I2C1, LPN_PIN13, I2C_RST_PIN);
+VL53L7CX sensor14(&DEV_I2C1, LPN_PIN14, I2C_RST_PIN);
+VL53L7CX sensor15(&DEV_I2C1, LPN_PIN15, I2C_RST_PIN);
+VL53L7CX sensor16(&DEV_I2C1, LPN_PIN16, I2C_RST_PIN);
+VL53L7CX sensor17(&DEV_I2C1, LPN_PIN17, I2C_RST_PIN);
+
+void blink_led_loop(void);
+
+void blink_led_loop(void)
+{
+ do {
+ // Blink the led forever
+ digitalWrite(LedPin, HIGH);
+ delay(wait_for_i2c);
+ digitalWrite(LedPin, LOW);
+ } while (1);
+}
+
+/* Setup ---------------------------------------------------------------------*/
+
+void setup()
+{
+ // Led.
+ pinMode(LedPin, OUTPUT);
+ pinMode(LPN_PIN0, OUTPUT);
+ pinMode(LPN_PIN1, OUTPUT);
+ pinMode(LPN_PIN2, OUTPUT);
+ pinMode(LPN_PIN3, OUTPUT);
+
+ Serial.begin(115200);
+ Serial.println("Initialize... Please wait, it may take few seconds...");
+
+ // Initialize I2C bus.
+ DEV_I2C0.begin();
+ DEV_I2C0.setClock(1000000);
+ delay(50);
+
+ DEV_I2C1.setSCL(SCL_PIN1);
+ DEV_I2C1.setSDA(SDA_PIN1);
+ DEV_I2C1.begin();
+ DEV_I2C1.setClock(1000000);
+ delay(50);
+
+ // Initialize and configure sensors
+ Serial.println("Initializing sensors...");
+
+ i2cScanner();
+
+ initializeSensor(sensor0, sensoraddress0, LPN_PIN0, I2C_RST_PIN);
+ i2cScanner();
+
+ initializeSensor(sensor1, sensoraddress1, LPN_PIN1, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensor(sensor2, sensoraddress2, LPN_PIN2, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensor(sensor3, sensoraddress3, LPN_PIN3, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor4, sensoraddress4, LPN_PIN4, I2C_RST_PIN);
+ // i2cScanner();
+
+ // initializeSensor(sensor5, sensoraddress5, LPN_PIN5, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor6, sensoraddress6, LPN_PIN6, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor7, sensoraddress7, LPN_PIN7, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor8, sensoraddress8, LPN_PIN8, I2C_RST_PIN);
+ // i2cScanner();
+
+ // initializeSensor(sensor9, sensoraddress9, LPN_PIN9, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor10, sensoraddress10, LPN_PIN10, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor11, sensoraddress11, LPN_PIN11, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor12, sensoraddress12, LPN_PIN12, I2C_RST_PIN);
+ // i2cScanner();
+
+ // initializeSensor(sensor13, sensoraddress13, LPN_PIN13, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor14, sensoraddress14, LPN_PIN14, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor15, sensoraddress15, LPN_PIN15, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ // initializeSensor(sensor16, sensoraddress16, LPN_PIN16, I2C_RST_PIN);
+ // i2cScanner();
+
+ // initializeSensor(sensor17, sensoraddress17, LPN_PIN17, I2C_RST_PIN);
+ // i2cScanner(); // Perform I2C scan
+
+ Serial.println("All sensors initialized successfully.");
+}
+
+void loop() {
+ // Declare the result data variables for each sensor
+ VL53L7CX_ResultsData Results0;
+ VL53L7CX_ResultsData Results1;
+ VL53L7CX_ResultsData Results2;
+ VL53L7CX_ResultsData Results3;
+
+ // Process each sensor data and save to respective JSON arrays
+ processSensorData(sensor0, Results0, doc["sensor0"].to<JsonArray>(), "sensor0");
+ processSensorData(sensor1, Results1, doc["sensor1"].to<JsonArray>(), "sensor1");
+ processSensorData(sensor2, Results2, doc["sensor2"].to<JsonArray>(), "sensor2");
+ processSensorData(sensor3, Results3, doc["sensor3"].to<JsonArray>(), "sensor3");
+
+ // Serialize the JSON document and print to Serial
+ serializeJson(doc, Serial);
+ Serial.println();
+}
+
+bool i2cScanner()
+{
+ bool status = false;
+ for (byte address = 1; address < 127; address++ )
+ {
+ Wire.beginTransmission(address);
+ if (Wire.endTransmission() == 0)
+ {
+ Serial.print("Device found at address 0x");
+ if (address < 0x10)
+ Serial.print("0");
+ Serial.println(address, HEX);
+ if (address == 0x29){
+ status = true;
+ }
+ else{
+ status = false;
+ }
+ }
+ }
+ Serial.println();
+ delay(wait_for_i2c);
+ return status;
+}
+
+void initializeSensor(VL53L7CX &sensor, uint16_t sensorAddress, int lpnPin, int i2cRstPin) {
+ LPn0(lpnPin, true);
+ delay(wait_for_i2c);
+
+ sensor.begin();
+ delay(wait_for_i2c);
+ sensor.init_sensor();
+ delay(wait_for_i2c);
+
+ // Set I2C address
+ sensor.vl53l7cx_set_i2c_address(sensorAddress << 1);
+ delay(wait_for_i2c);
+
+ // Set resolution and frequency
+ sensor.vl53l7cx_set_resolution(VL53L7CX_RESOLUTION_8X8);
+ delay(wait_for_i2c);
+ sensor.vl53l7cx_set_ranging_frequency_hz(ranging_frequency);
+ delay(wait_for_i2c);
+
+ // Start ranging
+ sensor.vl53l7cx_start_ranging();
+ delay(wait_for_i2c);
+
+ // Reset LPN and I2C pins
+ LPn0(lpnPin, false);
+}
+
+void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const JsonArray& data, const char* sensorKey) {
+ uint8_t NewDataReady = 0;
+ uint8_t status;
+
+ // Wait for data to be ready
+ do {
+ status = sensor.vl53l7cx_check_data_ready(&NewDataReady);
+ } while (!NewDataReady);
+
+ // Turn LED on to indicate data processing
+ digitalWrite(LedPin, HIGH);
+
+ // If data is ready, get the ranging data and store it in the JSON array
+ if ((!status) && (NewDataReady != 0)) {
+ status = sensor.vl53l7cx_get_ranging_data(&results);
+ JsonArray sensorData = doc[sensorKey].to<JsonArray>();
+
+ // Process the results and add them to the JSON array
+ for (int y = imageWidth * (imageWidth - 1); y >= 0; y -= imageWidth) {
+ for (int x = 0; x <= imageWidth - 1; x++) {
+ sensorData.add(results.distance_mm[VL53L7CX_NB_TARGET_PER_ZONE * (x + y)]);
+ }
+ void I2C_RST(int dataPin, int latchPin, int clockPin){
+ uint8_t Pin_byte1 = 0b11111111; // For pins 0-7
+ uint8_t Pin_byte2 = 0b11111111; // For pins 8-15
+ uint8_t Pin_byte3 = 0b11111111; // For pins 16-23
+ // Update the correct byte based on Pin
+
+ digitalWrite(latchPin, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte3); // Send byte for pins 16-23
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_void I2C_RST(int dataPin, int latchPin, int clockPin){
+ uint8_t Pin_byte1 = 0b11111111; // For pins 0-7
+ uint8_t Pin_byte2 = 0b11111111; // For pins 8-15
+ uint8_t Pin_byte3 = 0b11111111; // For pins 16-23
+ // Update the correct byte based on Pin
+
+ digitalWrite(latchPin, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte3); // Send byte for pins 16-23
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin, HIGH);
+ delay(200);
+}
+
+void LPn0(uint16_t Pin, bool on) {
+ uint8_t Pin_byte1 = 0b00000000; // For pins 0-7
+ uint8_t Pin_byte2 = 0b00000000; // For pins 8-15
+ // Update the correct byte based on Pin
+ if (Pin <= 7) {
+ Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1
+ } else if (Pin <= 15) {
+ Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2
+ }
+ digitalWrite(latchPin0, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin0, HIGH);
+}
+
+void LPn1(uint16_t Pin, bool on) {
+ uint8_t Pin_byte1 = 0b00000000; // For pins 0-7
+ uint8_t Pin_byte2 = 0b00000000; // For pins 8-15
+ // Update the correct byte based on Pin
+ if (Pin <= 7) {
+ Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1
+ } else if (Pin <= 15) {
+ Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2
+ }
+ digitalWrite(latchPin1, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin1, HIGH);
+}byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin, HIGH);
+ delay(200);
+}
+
+void LPn0(uint16_t Pin, bool on) {
+ uint8_t Pin_byte1 = 0b00000000; // For pins 0-7
+ uint8_t Pin_byte2 = 0b00000000; // For pins 8-15
+ // Update the correct byte based on Pin
+ if (Pin <= 7) {
+ Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1
+ } else if (Pin <= 15) {
+ Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2
+ }
+ digitalWrite(latchPin0, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin0, HIGH);
+}
+
+void LPn1(uint16_t Pin, bool on) {
+ uint8_t Pin_byte1 = 0b00000000; // For pins 0-7
+ uint8_t Pin_byte2 = 0b00000000; // For pins 8-15
+ // Update the correct byte based on Pin
+ if (Pin <= 7) {
+ Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1
+ } else if (Pin <= 15) {
+ Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2
+ }
+ digitalWrite(latchPin1, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin1, HIGH);
+}
+ }
+ }
+
+ // Turn LED off to indicate processing is done
+ digitalWrite(LedPin, LOW);
+}
+
+void I2C_RST(int dataPin, int latchPin, int clockPin){
+ uint8_t Pin_byte1 = 0b11111111; // For pins 0-7
+ uint8_t Pin_byte2 = 0b11111111; // For pins 8-15
+ uint8_t Pin_byte3 = 0b11111111; // For pins 16-23
+ // Update the correct byte based on Pin
+
+ digitalWrite(latchPin, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte3); // Send byte for pins 16-23
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin, clockPin, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin, HIGH);
+ delay(200);
+}
+
+void LPn0(uint16_t Pin, bool on) {
+ uint8_t Pin_byte1 = 0b00000000; // For pins 0-7
+ uint8_t Pin_byte2 = 0b00000000; // For pins 8-15
+ // Update the correct byte based on Pin
+ if (Pin <= 7) {
+ Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1
+ } else if (Pin <= 15) {
+ Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2
+ }
+ digitalWrite(latchPin0, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin0, clockPin0, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin0, HIGH);
+}
+
+void LPn1(uint16_t Pin, bool on) {
+ uint8_t Pin_byte1 = 0b00000000; // For pins 0-7
+ uint8_t Pin_byte2 = 0b00000000; // For pins 8-15
+ // Update the correct byte based on Pin
+ if (Pin <= 7) {
+ Pin_byte1 |= (on << Pin); // Set the corresponding bit in Pin_byte1
+ } else if (Pin <= 15) {
+ Pin_byte2 |= (on << (Pin - 8)); // Set the corresponding bit in Pin_byte2
+ }
+ digitalWrite(latchPin1, LOW);
+
+ // Shift out the bits
+ shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte2); // Send byte for pins 8-15
+ shiftOut(dataPin1, clockPin1, MSBFIRST, Pin_byte1); // Send byte for pins 0-7
+
+ digitalWrite(latchPin1, HIGH);
+}
+
+
diff --git a/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino b/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino
new file mode 100644
index 0000000000000000000000000000000000000000..5200f5181cdd2ef3816d374833dc411e55e57137
--- /dev/null
+++ b/Praxiprojekt_Bericht/4_vl53l7cx_clean_with_STlibrary.ino
@@ -0,0 +1,263 @@
+/**
+ ******************************************************************************
+ * @file VL53L7CX_Sat_HelloWorld.ino
+ * @author STMicroelectronics
+ * @version V1.0.0
+ * @date 11 November 2021
+ * @brief Arduino test application for the STMicrolectronics VL53L7CX
+ * proximity sensor satellite based on FlightSense.
+ * This application makes use of C++ classes obtained from the C
+ * components' drivers.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2021 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+/*
+ * To use these examples you need to connect the VL53L7CX satellite sensor directly to the Nucleo board with wires as explained below:
+ * pin 1 (GND) of the VL53L7CX satellite connected to GND of the Nucleo board
+ * pin 2 (IOVDD) of the VL53L7CX satellite connected to 3V3 pin of the Nucleo board
+ * pin 3 (AVDD) of the VL53L7CX satellite connected to 5V pin of the Nucleo board
+ * pin 4 (PWREN) of the VL53L7CX satellite connected to pin A5 of the Nucleo board
+ * pin 5 (LPn) of the VL53L7CX satellite connected to pin A3 of the Nucleo board
+ * pin 6 (SCL) of the VL53L7CX satellite connected to pin D15 (SCL) of the Nucleo board
+ * pin 7 (SDA) of the VL53L7CX satellite connected to pin D14 (SDA) of the Nucleo board
+ * pin 8 (I2C_RST) of the VL53L7CX satellite connected to pin A1 of the Nucleo board
+ * pin 9 (INT) of the VL53L7CX satellite connected to pin A2 of the Nucleo board
+ */
+/* Includes ------------------------------------------------------------------*/
+#include <Arduino.h>
+#include <Wire.h>
+#include <ArduinoJson.h>
+#include <vl53l7cx_class.h>
+#include "74HC154.h"
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#define DEV_I2C1 Wire1
+#define DEV_I2C0 Wire
+
+#ifndef LED_BUILTIN
+ #define LED_BUILTIN 13
+#endif
+#define LedPin LED_BUILTIN
+
+#define LPN_PIN0 14
+#define LPN_PIN1 15
+#define LPN_PIN2 9
+#define LPN_PIN3 12
+
+#define LPN_PIN1 15
+#define I2C_RST_PIN 27
+
+#define LPN_PIN2 9
+
+
+
+uint16_t sensoraddress0 = 0x1Bz;
+uint16_t sensoraddress1 = 0x39;
+uint16_t sensoraddress2 = 0x57;
+uint16_t sensoraddress3 = 0x67;
+
+uint16_t wait_for_i2c = 50;
+uint16_t imageWidth = 8;
+uint16_t ranging_frequency = 15;
+pin_size_t SDA_PIN1 = 2;
+pin_size_t SCL_PIN1 = 3;
+JsonDocument doc;
+
+// Components.
+VL53L7CX sensor0(&DEV_I2C1, LPN_PIN0, I2C_RST_PIN);
+VL53L7CX sensor1(&DEV_I2C0, LPN_PIN1, I2C_RST_PIN);
+VL53L7CX sensor2(&DEV_I2C0, LPN_PIN2, I2C_RST_PIN);
+VL53L7CX sensor3(&DEV_I2C0, LPN_PIN2, I2C_RST_PIN);
+
+void blink_led_loop(void);
+
+void blink_led_loop(void)
+{
+ do {
+ // Blink the led forever
+ digitalWrite(LedPin, HIGH);
+ delay(wait_for_i2c);
+ digitalWrite(LedPin, LOW);
+ } while (1);
+}
+
+/* Setup ---------------------------------------------------------------------*/
+
+void setup()
+{
+ // Led.
+ pinMode(LedPin, OUTPUT);
+ pinMode(LPN_PIN0, OUTPUT);
+ pinMode(LPN_PIN1, OUTPUT);
+ pinMode(LPN_PIN2, OUTPUT);
+ pinMode(LPN_PIN3, OUTPUT);
+ pinMode(LPN_PIN4, OUTPUT);
+ pinMode(LPN_PIN5, OUTPUT);
+ pinMode(LPN_PIN6, OUTPUT);
+ pinMode(LPN_PIN7, OUTPUT);
+ pinMode(LPN_PIN8, OUTPUT);
+ pinMode(LPN_PIN9, OUTPUT);
+ pinMode(LPN_PIN10, OUTPUT);
+ pinMode(LPN_PIN11, OUTPUT);
+ pinMode(LPN_PIN12, OUTPUT);
+ pinMode(LPN_PIN13, OUTPUT);
+ pinMode(LPN_PIN14, OUTPUT);
+ pinMode(LPN_PIN15, OUTPUT);
+ pinMode(LPN_PIN16, OUTPUT);
+ pinMode(LPN_PIN17, OUTPUT);
+
+ Serial.begin(115200);
+ Serial.println("Initialize... Please wait, it may take few seconds...");
+
+ // Initialize I2C bus.
+ DEV_I2C0.begin();
+ DEV_I2C0.setClock(1000000);
+ delay(50);
+
+ DEV_I2C1.setSCL(SCL_PIN1);
+ DEV_I2C1.setSDA(SDA_PIN1);
+ DEV_I2C1.begin();
+ DEV_I2C1.setClock(1000000);
+ delay(50);
+
+ // Initialize and configure sensors
+ Serial.println("Initializing sensors...");
+
+ initializeSensor(sensor0, sensoraddress0, LPN_PIN0, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensor(sensor1, sensoraddress1, LPN_PIN1, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensor(sensor2, sensoraddress2, LPN_PIN2, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ initializeSensor(sensor3, sensoraddress3, LPN_PIN3, I2C_RST_PIN);
+ i2cScanner(); // Perform I2C scan
+
+ Serial.println("All sensors initialized successfully.");
+}
+
+void loop() {
+ // Declare the result data variables for each sensor
+ VL53L7CX_ResultsData Results0;
+ VL53L7CX_ResultsData Results1;
+ VL53L7CX_ResultsData Results2;
+ VL53L7CX_ResultsData Results3;
+
+ // Process each sensor data and save to respective JSON arrays
+ processSensorData(sensor0, Results0, doc["sensor0"].to<JsonArray>(), "sensor0");
+ processSensorData(sensor1, Results1, doc["sensor1"].to<JsonArray>(), "sensor1");
+ processSensorData(sensor2, Results2, doc["sensor2"].to<JsonArray>(), "sensor2");
+ processSensorData(sensor3, Results3, doc["sensor3"].to<JsonArray>(), "sensor3");
+
+ // Serialize the JSON document and print to Serial
+ serializeJson(doc, Serial);
+ Serial.println();
+}
+
+void i2cScanner()
+{
+ for (byte address = 1; address < 127; address++ )
+ {
+ Wire.beginTransmission(address);
+ if (Wire.endTransmission() == 0)
+ {
+ Serial.print("Device found at address 0x");
+ if (address < 0x10)
+ Serial.print("0");
+ Serial.println(address, HEX);
+ }
+ }
+ Serial.println();
+ delay(wait_for_i2c);
+}
+
+void initializeSensor(VL53L7CX &sensor, uint16_t sensorAddress, int lpnPin, int i2cRstPin) {
+ digitalWrite(lpnPin, HIGH); // Activate sensor power
+ delay(wait_for_i2c);
+
+ sensor.begin();
+ delay(wait_for_i2c);
+ sensor.init_sensor();
+ delay(wait_for_i2c);
+
+ // Set I2C address
+ sensor.vl53l7cx_set_i2c_address(sensorAddress << 1);
+ delay(wait_for_i2c);
+
+ // Set resolution and frequency
+ sensor.vl53l7cx_set_resolution(VL53L7CX_RESOLUTION_8X8);
+ delay(wait_for_i2c);
+ sensor.vl53l7cx_set_ranging_frequency_hz(ranging_frequency);
+ delay(wait_for_i2c);
+
+ // Start ranging
+ sensor.vl53l7cx_start_ranging();
+ delay(wait_for_i2c);
+
+ // Reset LPN and I2C pins
+ digitalWrite(lpnPin, LOW);
+}
+
+void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const JsonArray& data, const char* sensorKey) {
+ uint8_t NewDataReady = 0;
+ uint8_t status;
+
+ // Wait for data to be ready
+ do {
+ status = sensor.vl53l7cx_check_data_ready(&NewDataReady);
+ } while (!NewDataReady);
+
+ // Turn LED on to indicate data processing
+ digitalWrite(LedPin, HIGH);
+
+ // If data is ready, get the ranging data and store it in the JSON array
+ if ((!status) && (NewDataReady != 0)) {
+ status = sensor.vl53l7cx_get_ranging_data(&results);
+ JsonArray sensorData = doc[sensorKey].to<JsonArray>();
+
+ // Process the results and add them to the JSON array
+ for (int y = imageWidth * (imageWidth - 1); y >= 0; y -= imageWidth) {
+ for (int x = 0; x <= imageWidth - 1; x++) {
+ sensorData.add(results.distance_mm[VL53L7CX_NB_TARGET_PER_ZONE * (x + y)]);
+ }
+ }
+ }
+
+ // Turn LED off to indicate processing is done
+ digitalWrite(LedPin, LOW);
+}
+
+
diff --git a/Praxiprojekt_Bericht/Praxisprojekt_Bericht_Rene_Ebeling.pdf b/Praxiprojekt_Bericht/Praxisprojekt_Bericht_Rene_Ebeling.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..b9828a31140778a60c10a32e7aebec15afd7a18b
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diff --git a/Praxiprojekt_Bericht/anhang.log b/Praxiprojekt_Bericht/anhang.log
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--- /dev/null
+++ b/Praxiprojekt_Bericht/anhang.log
@@ -0,0 +1,2789 @@
+This is pdfTeX, Version 3.141592653-2.6-1.40.26 (TeX Live 2024) (preloaded format=pdflatex 2025.2.18) 25 FEB 2025 22:30
+entering extended mode
+ restricted \write18 enabled.
+ %&-line parsing enabled.
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+ {Schaltpläne und Verdrahtungsdiagramme}
+The control sequence at the end of the top line
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+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.2 \chapter{S
+ chaltpläne und Verdrahtungsdiagramme}
+You're in trouble here. Try typing <return> to proceed.
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+
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+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+l.3 \section
+ {Schaltplan des elektronischen Aufbaus}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no p in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
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+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.4 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.6 \includegraphics
+ [width=\textwidth]{images/Schaltplan.png} % Ersetzen Si...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.6 \includegraphics[width=\textwidth]
+ {images/Schaltplan.png} % Ersetzen Si...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.6 \includegraphics[width=\textwidth]
+ {images/Schaltplan.png} % Ersetzen Si...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.7 \caption
+ {Schaltplan des elektronischen Aufbaus}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.9 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.10 \section
+ {Verdrahtungsdiagramm}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no V in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.11 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.13 \includegraphics
+ [width=\textwidth]{images/Verdrahtungsdiagramm.png} % ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.13 \includegraphics[width=\textwidth]
+ {images/Verdrahtungsdiagramm.png} % ...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.13 \includegraphics[width=\textwidth]
+ {images/Verdrahtungsdiagramm.png} % ...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.14 \caption
+ {Verdrahtungsdiagramm}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no V in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.16 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+
+Overfull \hbox (30.00003pt too wide) in paragraph at lines 2--17
+[]\/cmr/m/n/10 ^^?a
+ []
+
+! Undefined control sequence.
+l.18 \chapter
+ {Quellcode}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.18 \chapter{Q
+ uellcode}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no Q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+l.19 \section
+ {Arduino-Quellcode}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no A in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no Q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+l.20 \lstinputlisting
+ [language=C++]{arduino_code.ino} % Ersetzen Sie dies du...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no + in font nullfont!
+Missing character: There is no + in font nullfont!
+Missing character: There is no ] in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.20 \lstinputlisting[language=C++]{arduino_
+ code.ino} % Ersetzen Sie dies du...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+LaTeX Font Info: External font `cmex10' loaded for size
+(Font) <7> on input line 20.
+LaTeX Font Info: External font `cmex10' loaded for size
+(Font) <5> on input line 20.
+! Extra }, or forgotten $.
+l.20 ...putlisting[language=C++]{arduino_code.ino}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.21 \section
+ {ROS 2-Nodes Quellcode}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.22 \subsection
+ {Datenverarbeitungs-Node (Python)}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.23 \lstinputlisting
+ [language=Python]{datenverarbeitung_node.py} % Ersetzen...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.24 \subsection
+ {Kollisionserkennungs-Node (Python)}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.25 \lstinputlisting
+ [language=Python]{kollisionserkennung_node.py} % Ersetz...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.26
+
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 18--26
+[]
+ []
+
+
+Overfull \hbox (368.80351pt too wide) in paragraph at lines 18--26
+[]\OML/cmm/m/it/10 ode:ino[][]\/cmr/m/n/10 [\OML/cmm/m/it/10 language \/cmr/m/n
+/10 =
+ []
+
+
+Overfull \hbox (382.83499pt too wide) in paragraph at lines 18--26
+\OML/cmm/m/it/10 Python\/cmr/m/n/10 ][][][\OML/cmm/m/it/10 language \/cmr/m/n/1
+0 =
+ []
+
+
+Overfull \hbox (161.26112pt too wide) in paragraph at lines 18--26
+\OML/cmm/m/it/10 Python\/cmr/m/n/10 ][]$
+ []
+
+! Undefined control sequence.
+l.27 \chapter
+ {CAD-Zeichnungen und 3D-Modelle}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.27 \chapter{C
+ AD-Zeichnungen und 3D-Modelle}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no Z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+! Undefined control sequence.
+l.28 \section
+ {CAD-Zeichnungen des Sensormoduls}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no Z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.29 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.31 \includegraphics
+ [width=\textwidth]{images/CAD_Zeichnung_1.png} % Erset...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.31 \includegraphics[width=\textwidth]
+ {images/CAD_Zeichnung_1.png} % Erset...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.31 \includegraphics[width=\textwidth]
+ {images/CAD_Zeichnung_1.png} % Erset...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no D in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.31 ...ludegraphics[width=\textwidth]{images/CAD_
+ Zeichnung_1.png} % Ersetze...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.31 ...th=\textwidth]{images/CAD_Zeichnung_1.png}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.32 \caption
+ {CAD-Zeichnung des Sensormoduls (Ansicht 1)}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.34 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.34 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.34 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.35 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.37 \includegraphics
+ [width=\textwidth]{images/CAD_Zeichnung_2.png} % Erset...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.37 \includegraphics[width=\textwidth]
+ {images/CAD_Zeichnung_2.png} % Erset...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.37 \includegraphics[width=\textwidth]
+ {images/CAD_Zeichnung_2.png} % Erset...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no D in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.37 ...ludegraphics[width=\textwidth]{images/CAD_
+ Zeichnung_2.png} % Ersetze...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.37 ...th=\textwidth]{images/CAD_Zeichnung_2.png}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.38 \caption
+ {CAD-Zeichnung des Sensormoduls (Ansicht 2)}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.40 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.40 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.40 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Undefined control sequence.
+l.41 \section
+ {3D-Modelle des Sensormoduls}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.42 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.44 \includegraphics
+ [width=\textwidth]{images/3D_Modell_1.png} % Ersetzen ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.44 \includegraphics[width=\textwidth]
+ {images/3D_Modell_1.png} % Ersetzen ...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.44 \includegraphics[width=\textwidth]
+ {images/3D_Modell_1.png} % Ersetzen ...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no D in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.44 ...cludegraphics[width=\textwidth]{images/3D_
+ Modell_1.png} % Ersetzen S...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.44 ...[width=\textwidth]{images/3D_Modell_1.png}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.45 \caption
+ {3D-Modell des Sensormoduls (Perspektive 1)}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.47 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.47 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.47 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.48 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.50 \includegraphics
+ [width=\textwidth]{images/3D_Modell_2.png} % Ersetzen ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.50 \includegraphics[width=\textwidth]
+ {images/3D_Modell_2.png} % Ersetzen ...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.50 \includegraphics[width=\textwidth]
+ {images/3D_Modell_2.png} % Ersetzen ...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no D in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.50 ...cludegraphics[width=\textwidth]{images/3D_
+ Modell_2.png} % Ersetzen S...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.50 ...[width=\textwidth]{images/3D_Modell_2.png}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.51 \caption
+ {3D-Modell des Sensormoduls (Perspektive 2)}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.53 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.53 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.53 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 27--54
+[]
+ []
+
+
+Overfull \hbox (282.0635pt too wide) in paragraph at lines 27--54
+[]\OML/cmm/m/it/10 eichnung[]:png[][]$
+ []
+
+
+Overfull \hbox (282.0635pt too wide) in paragraph at lines 27--54
+[]\OML/cmm/m/it/10 eichnung[]:png[][]$
+ []
+
+
+Overfull \hbox (256.32677pt too wide) in paragraph at lines 27--54
+[]\OML/cmm/m/it/10 odell[]:png[][]$
+ []
+
+
+Overfull \hbox (256.32677pt too wide) in paragraph at lines 27--54
+[]\OML/cmm/m/it/10 odell[]:png[][]$
+ []
+
+! Undefined control sequence.
+l.55 \chapter
+ {Datenblätter und technische Spezifikationen}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.55 \chapter{D
+ atenblätter und technische Spezifikationen}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no D in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+! Undefined control sequence.
+l.56 \section
+ {Datenblatt des VL53L7CX-Sensors}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no D in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no 5 in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no 7 in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no X in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.57 \includepdf
+ [pages=-]{VL53L7CX_Datenblatt.pdf} % Ersetzen Sie dies durch...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no ] in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no 5 in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no 7 in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no X in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.57 \includepdf[pages=-]{VL53L7CX_
+ Datenblatt.pdf} % Ersetzen Sie dies durch...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.57 \includepdf[pages=-]{VL53L7CX_Datenblatt.pdf}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+! Undefined control sequence.
+l.58 \section
+ {Datenblatt des Raspberry Pi Pico}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.59 \includepdf
+ [pages=-]{Raspberry_Pi_Pico_Datenblatt.pdf} % Ersetzen Sie d...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.60 \section
+ {Technische Spezifikationen des UR10e-Roboters}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+l.61 \includepdf
+ [pages=-]{UR10e_Technische_Spezifikationen.pdf} % Ersetzen S...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.62
+
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+
+Overfull \hbox (25.00002pt too wide) in paragraph at lines 55--62
+[]\/cmr/m/n/10 ^^?a
+ []
+
+
+Overfull \hbox (243.01959pt too wide) in paragraph at lines 55--62
+[]\OML/cmm/m/it/10 atenblatt:pdf[]\/cmr/m/n/10 [\OML/cmm/m/it/10 pages \/cmr/m/
+n/10 =
+ []
+
+
+Overfull \hbox (409.28622pt too wide) in paragraph at lines 55--62
+\OMS/cmsy/m/n/10 ^^@\/cmr/m/n/10 ][][][\OML/cmm/m/it/10 pages \/cmr/m/n/10 =
+ []
+
+
+Overfull \hbox (180.84958pt too wide) in paragraph at lines 55--62
+\OMS/cmsy/m/n/10 ^^@\/cmr/m/n/10 ][]$
+ []
+
+! Undefined control sequence.
+l.63 \chapter
+ {Zusätzliche Testergebnisse und Daten}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.63 \chapter{Z
+ usätzliche Testergebnisse und Daten}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no Z in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+! Undefined control sequence.
+l.64 \section
+ {Genauigkeitstests der ToF-Sensoren}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no G in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.65 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.67 \includegraphics
+ [width=\textwidth]{images/Genauigkeitstests.png} % Ers...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.67 \includegraphics[width=\textwidth]
+ {images/Genauigkeitstests.png} % Ers...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.67 \includegraphics[width=\textwidth]
+ {images/Genauigkeitstests.png} % Ers...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.68 \caption
+ {Ergebnisse der Genauigkeitstests der ToF-Sensoren}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no E in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.70 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.71 \section
+ {Latenzzeitmessungen}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no L in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.72 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.74 \includegraphics
+ [width=\textwidth]{images/Latenzzeitmessungen.png} % E...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.74 \includegraphics[width=\textwidth]
+ {images/Latenzzeitmessungen.png} % E...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.74 \includegraphics[width=\textwidth]
+ {images/Latenzzeitmessungen.png} % E...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.75 \caption
+ {Ergebnisse der Latenzzeitmessungen}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no E in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.77 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.78 \section
+ {Kollisionsvermeidungstests}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no K in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.79 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.81 \includegraphics
+ [width=\textwidth]{images/Kollisionsvermeidungstests.p...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.81 \includegraphics[width=\textwidth]
+ {images/Kollisionsvermeidungstests.p...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.81 \includegraphics[width=\textwidth]
+ {images/Kollisionsvermeidungstests.p...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no K in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.82 \caption
+ {Ergebnisse der Kollisionsvermeidungstests}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no E in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no K in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.84 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+
+Overfull \hbox (25.00002pt too wide) in paragraph at lines 63--85
+[]\/cmr/m/n/10 ^^?a
+ []
+
+! Undefined control sequence.
+l.86 \chapter
+ {Glossar}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.86 \chapter{G
+ lossar}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no G in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 86--87
+[]
+ []
+
+! Undefined control sequence.
+<recently read> \acrfull
+
+l.88 \item \acrfull
+ {ToF}: ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+<recently read> \acrfull
+
+l.89 \item \acrfull
+ {ROS}: ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+<recently read> \acrfull
+
+l.90 \item \acrfull
+ {CAD}: ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.94 \chapter
+ {Bibliographie}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no B in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+\bibdata{literatur}
+No file anhang.bbl.
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 94--97
+[]
+ []
+
+! Undefined control sequence.
+l.98 \chapter
+ {Detaillierte Beschreibung der ROS 2-Nodes}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no D in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.99 \section
+ {Datenverarbeitungs-Node}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no D in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no ) in font nullfont!
+! Undefined control sequence.
+l.101 \section
+ {Kollisionserkennungs-Node}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no K in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no ) in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 98--103
+[]
+ []
+
+
+Overfull \hbox (5.55557pt too wide) in paragraph at lines 98--103
+\/cmr/m/n/10 ^^?u
+ []
+
+
+Overfull \hbox (5.55557pt too wide) in paragraph at lines 98--103
+\/cmr/m/n/10 ^^?u
+ []
+
+! Undefined control sequence.
+l.104 \chapter
+ {Zusätzliche Bilder und Screenshots}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no Z in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.105 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.107 \includegraphics
+ [width=\textwidth]{images/Aufbau_Sensorsystem.png} % ...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.107 \includegraphics[width=\textwidth]
+ {images/Aufbau_Sensorsystem.png} % ...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.107 \includegraphics[width=\textwidth]
+ {images/Aufbau_Sensorsystem.png} % ...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.107 ...graphics[width=\textwidth]{images/Aufbau_
+ Sensorsystem.png} % Ersetz...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.107 ...extwidth]{images/Aufbau_Sensorsystem.png}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.108 \caption
+ {Aufbau des Sensorsystems}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.110 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.110 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.110 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.111 \begin{figure}
+ [h]
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no ] in font nullfont!
+! Undefined control sequence.
+l.113 \includegraphics
+ [width=\textwidth]{images/RViz_Screenshot.png} % Erse...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.113 \includegraphics[width=\textwidth]
+ {images/RViz_Screenshot.png} % Erse...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.113 \includegraphics[width=\textwidth]
+ {images/RViz_Screenshot.png} % Erse...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.113 ...degraphics[width=\textwidth]{images/RViz_
+ Screenshot.png} % Ersetzen...
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+! Extra }, or forgotten $.
+l.113 ...h=\textwidth]{images/RViz_Screenshot.png}
+ % Ersetzen Sie dies durch...
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.114 \caption
+ {RViz-Screenshot der Punktwolkenvisualisierung}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.116 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.116 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.116 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (25.00002pt too wide) in paragraph at lines 104--117
+[]\/cmr/m/n/10 ^^?a
+ []
+
+
+Overfull \hbox (198.51pt too wide) in paragraph at lines 104--117
+[]\OML/cmm/m/it/10 ensorsystem:png[][]$
+ []
+
+
+Overfull \hbox (294.96538pt too wide) in paragraph at lines 104--117
+[]\OML/cmm/m/it/10 creenshot:png[][]$
+ []
+
+! Undefined control sequence.
+l.118 \chapter
+ {Stückliste}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+
+Overfull \hbox (25.55557pt too wide) in paragraph at lines 118--119
+[]\/cmr/m/n/10 ^^?u
+ []
+
+Missing character: There is no V in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no 5 in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no 7 in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no X in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+)
+! Emergency stop.
+<*> anhang.tex
+
+*** (job aborted, no legal \end found)
+
+
+Here is how much of TeX's memory you used:
+ 37 strings out of 473200
+ 634 string characters out of 5720278
+ 394991 words of memory out of 5000000
+ 23389 multiletter control sequences out of 15000+600000
+ 558837 words of font info for 36 fonts, out of 8000000 for 9000
+ 1141 hyphenation exceptions out of 8191
+ 23i,2n,32p,145b,116s stack positions out of 10000i,1000n,20000p,200000b,200000s
+! ==> Fatal error occurred, no output PDF file produced!
diff --git a/Praxiprojekt_Bericht/anhang.tex b/Praxiprojekt_Bericht/anhang.tex
new file mode 100644
index 0000000000000000000000000000000000000000..5330cb9b1e5210723690a67d508d9cc34e22ca22
--- /dev/null
+++ b/Praxiprojekt_Bericht/anhang.tex
@@ -0,0 +1,42 @@
+\chapter{Quellcode}
+\section{Arduino-Quellcode}
+\lstinputlisting[language=C++]{18_vl53l7cx_clean_with_STlibrary_Shift_register_20250127154813.ino} % Ersetzen Sie dies durch Ihren Arduino-Quellcode
+\section{ROS 2-Nodes Quellcode}
+\subsection{Datenverarbeitungs-Node (Python)}
+\lstinputlisting[language=Python]{ser_test_node.py} % Ersetzen Sie dies durch Ihren Python-Quellcode
+\subsection{Kollisionserkennungs-Node (Python)}
+\lstinputlisting[language=Python]{pcl_rob_node.py} % Ersetzen Sie dies durch Ihren Python-Quellcode
+
+\chapter{3D-Modelle des Sensormoduls}
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=\textwidth]{images/Halterung_Seite.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle
+ \caption{3D-Modell des Sensormoduls (Perspektive 1)}
+ \label{fig:3d_modell_1}
+\end{figure}
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=\textwidth]{images/Halterung_Seite_Oben.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle
+ \caption{3D-Modell des Sensormoduls (Perspektive 2)}
+ \label{fig:3d_modell_2}
+\end{figure}
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=\textwidth]{images/Halterung_Seite_Oben_schräg.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle
+ \caption{3D-Modell des Sensormoduls (Perspektive 3)}
+ \label{fig:3d_modell_3}
+\end{figure}
+\begin{figure}[h]
+ \centering
+ \includegraphics[width=\textwidth]{images/Halterung_Top.jpg} % Ersetzen Sie dies durch Ihre 3D-Modelle
+ \caption{3D-Modell des Sensormoduls (Perspektive 4)}
+ \label{fig:3d_modell_4}
+\end{figure}
+
+\chapter{Versuchsaufbau}
+\begin{figure}[h]
+ \centering
+ \includegraphics[scale=0.5]{images/Versuchsaufbau_mit_VL53L5CX.jpg}
+ \caption{Versuchsaufbau mit zwei VL53L5CX}
+ \label{fig:versuchsaufbau}
+\end{figure}
\ No newline at end of file
diff --git a/Praxiprojekt_Bericht/ba.acn b/Praxiprojekt_Bericht/ba.acn
new file mode 100644
index 0000000000000000000000000000000000000000..a908bd034237309df1e704977296115ce08e8e95
--- /dev/null
+++ b/Praxiprojekt_Bericht/ba.acn
@@ -0,0 +1,103 @@
+\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{Cobot?\glossentry{Cobot}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{PC?\glossentry{PC}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
+\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{3}
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+\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{Cobot's?\glossentry{Cobots}|setentrycounter[]{page}"\glsnumberformat}{4}
+\glossaryentry{ToF-Sensoren?\glossentry{ToFs}|setentrycounter[]{page}"\glsnumberformat}{4}
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+\glossaryentry{UR?\glossentry{UR}|setentrycounter[]{page}"\glsnumberformat}{4}
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+\glossaryentry{KI?\glossentry{KI}|setentrycounter[]{page}"\glsnumberformat}{6}
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+\glossaryentry{RGB-Kamera?\glossentry{RGB}|setentrycounter[]{page}"\glsnumberformat}{6}
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index d3a76bc654e7fd328036ef0257767ad883aeb253..7b2764b71ff04f09d48b05f73007a0ffc7cfe25c 100644
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Reallocated singl_function (elt_size=4) to 100 items from 50.
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+chapter C.
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diff --git a/Praxiprojekt_Bericht/ba.lot b/Praxiprojekt_Bericht/ba.lot
new file mode 100644
index 0000000000000000000000000000000000000000..51de257d215ff0f682e3b6c88ace4aa3f3109c6f
--- /dev/null
+++ b/Praxiprojekt_Bericht/ba.lot
@@ -0,0 +1,7 @@
+\babel@toc {ngerman}{}\relax
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\addvspace {10\p@ }
+\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
diff --git a/Praxiprojekt_Bericht/ba.pdf b/Praxiprojekt_Bericht/ba.pdf
index 965a35b173c93912d05d701c3cd56b986f7d148a..6f1caef667567d300cfdec5c3402f1056b3f9474 100644
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diff --git a/Praxiprojekt_Bericht/ba.synctex.gz b/Praxiprojekt_Bericht/ba.synctex.gz
index fd07164b43e2dd797d5b06c2fa2d2c3f113ffe6c..622d2183de1ba725fcbdd45ec08f01ac50d4ac12 100644
Binary files a/Praxiprojekt_Bericht/ba.synctex.gz and b/Praxiprojekt_Bericht/ba.synctex.gz differ
diff --git a/Praxiprojekt_Bericht/ba.tex b/Praxiprojekt_Bericht/ba.tex
index adac012ebf72587af1254686bf6f04542448be86..07eaf36876c52803f1a6d73f19bd098e7da635e9 100644
--- a/Praxiprojekt_Bericht/ba.tex
+++ b/Praxiprojekt_Bericht/ba.tex
@@ -29,23 +29,31 @@
% toc=listof, % Abbildung- und Tabellenverzeichnis ins Inhaltsverzeichnis
% toc=index, % Stichwortverzeichnis ins Inhaltsverzeichnis
}
-%
+\usepackage{xcolor} % Für Farbdefinitionen
%%%%%% Immer benötigte Packages
-%
+\usepackage[
+pdfborder={0 0 1}, % Rahmen um Links (0 0 1 bedeutet einfarbiger Rahmen mit Breite 1)
+colorlinks=false % Deaktiviert die farbige Textmarkierung, lässt Rahmen aktiv
+]{hyperref}
+%
+\definecolor{fh-mint}{RGB}{0,177,172}
+\hypersetup{
+ linkbordercolor=fh-mint, % Farbe des Rahmens um interne Links
+ citebordercolor=blue, % Farbe des Rahmens um Zitate
+ urlbordercolor=green % Farbe des Rahmens um URLs
+}
\usepackage[T1]{fontenc} % sonst funktioniert die Silbentrennung bei Umlauten nicht
\usepackage[utf8]{inputenc} % Eingabedekodierung. Ermöglicht Umlaute. Achtung: Unbedingt mit Betreuer
% Verwendung der Umlaute-Eingabemethode absprechen. Im Zweifel \"O für Ö
\usepackage[ngerman]{babel} % Silbentrennung und Sprachanpassung
-\usepackage[acronym]{glossaries}
\usepackage{blindtext} % Blindtext
-\usepackage[hidelinks]{hyperref} % Sprungmarken, z.B. im Inhaltsverzeichnis auf Textpassagen
+\usepackage[colorlinks=false]{hyperref} % Sprungmarken, z.B. im Inhaltsverzeichnis auf Textpassagen
\usepackage{graphicx} % Definiert o.a. \includegraphics
\usepackage{textcomp} % Sonst funktioniert z.B. \texteuro nicht
\usepackage[automark]{scrlayer-scrpage} % Package zum Definieren der Kopf- und Fußzeilen
\usepackage{amsmath} % Muss sein
\usepackage{mathrsfs} % Weitere Mathematik-Symbole, z.B. Laplace-L
\usepackage{listings} % Paket für Code-Darstellung
-\usepackage{xcolor} % Für farbige Hervorhebung
%
%%%%% Anpassung an Formatvorlagen des Fachbereichs
%
@@ -68,6 +76,9 @@
%
%%%%%% Gegebenenfalls nützliche Zusatzpackages
%
+\usepackage{tocloft}
+\cftsetindents{section}{1.5em}{2.3em} % Einrückung für Abschnitte
+\cftsetindents{subsection}{3.8em}{3.2em} % Einrückung für Unterabschnitte
%\usepackage{blindtext} % Blindtexte zum Ausprobieren von Formatierungen
%\usepackage{color} % Schriftfarben
\usepackage{colortbl} % für die Hintergrundfarbe von Tabellen
@@ -81,7 +92,7 @@
\usepackage{paralist} % Weitere Nummeriungsoptionen, z.b. alphabetisch für enumerate/itemize
%\usepackage{verbatim} % Verbesserte verbatim-Umgebung (z.b. Programm-Listings)
%\usepackage{subfig} % Unterfigures mit eigenen Bildunterschriften
-%
+\usepackage{enumitem}
%%%%%% Sammelsurium
%
%\renewcommand{\labelitemii}{$\circ$} % Bullets für itemize-Listen
@@ -92,6 +103,10 @@
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
+\usepackage[acronym]{glossaries}
+% Glossar erstellen
+\makeglossaries
+
\newacronym{UR}{UR}{Universal Robots}
\newacronym{HRC}{HRC}{Human-Robot Collaboration}
\newacronym{Cobot}{Cobot}{kollaborativer Roboter}
@@ -120,18 +135,9 @@
\newacronym{LED}{LED}{Light Emitting Diode}
\newacronym{USB}{USB}{Universal Seriell Bus}
\newacronym{PCD}{pcd}{Point Cloud Data}
-\newglossaryentry{Pose}{
- name={Pose},
- description={Position und Orientierung}
-}
-\newglossaryentry{KO}{
- name={Kollisionsobjekt},
- description={Mensch oder Objekt innerhalb des Arbeitsraums des Industrie Roboters, das nicht Ziel der Manipulation ist}
-}
-\newglossaryentry{AR}{
- name={Arbeitsraum},
- description={Anteil des eingeschränkten Raumes, der während der Ausführung aller vom Anwenderprogramm vorgegebenen Bewegungen [vom Roboter] benutzt wird}
-}
+\newacronym{PLA}{PLA}{Polylactid}
+\newacronym{IMU}{IMU}{Inertial Measurement Unit}
+
\lstset{
language=C++, % Programmiersprache
basicstyle=\ttfamily\small, % Schriftart und -größe
@@ -170,9 +176,11 @@
%emph=[2]{shiftOut,digitalWrite,LPn}
%emphstyle=[2]{\color{orange}\bfseries}
}
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\renewcommand{\figurename}{Abb.}
\begin{document}
%% Verschiedene Versionen, nach DIN 1505 zu zitieren
-\bibliographystyle{plaindin}
+\bibliographystyle{plain}
%\bibliographystyle{natdin}
%\bibliographystyle{alphadin}
%\bibliographystyle{unsrtdin}
@@ -184,11 +192,6 @@
% Titel im FH Style
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\fhacmbtitle{\includegraphics[height=4cm]{fh_logo}}{5pt}{5pt}
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% Erklärung / Geheimhaltung
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
%\frontmatter % Wenn der Hauptteil mit Seite 1 beginnen soll
\pagestyle{plain}
% \input{erklaerung}
@@ -217,12 +220,18 @@
% heisst das Paket texlive-bibtex-extra
% Hier muss noch aufgeräumt werden. Nennung von URLs verbesserungsbedürftig. Ggf auf biblatex (statt bibtex) umsteigen
+
+
+%% Verschiedene Versionen, nach DIN 1505 zu zitieren
+\bibliographystyle{plaindin}
+%\bibliographystyle{natdin}
+%\bibliographystyle{alphadin}
+%\bibliographystyle{unsrtdin}
\bibliography{ba}
\listoffigures
-\listoftables
\appendix
-% \input{anhang}
+\input{anhang}
\end{document}
\ No newline at end of file
diff --git a/Praxiprojekt_Bericht/ba.toc b/Praxiprojekt_Bericht/ba.toc
index 6c554dd5ee1b555ca2552a8fb98110475a382804..f9af336a3110036b43d9102869e0a581e1960ce3 100644
--- a/Praxiprojekt_Bericht/ba.toc
+++ b/Praxiprojekt_Bericht/ba.toc
@@ -12,7 +12,12 @@
\contentsline {subsection}{\numberline {4.2.3}RVIZ2 und Gazebo Classic}{15}{subsection.4.2.3}%
\contentsline {section}{\numberline {4.3}Hardware}{16}{section.4.3}%
\contentsline {subsection}{\numberline {4.3.1}Elektronisch}{16}{subsection.4.3.1}%
-\contentsline {subsection}{\numberline {4.3.2}Mechanisch}{16}{subsection.4.3.2}%
-\contentsline {chapter}{\numberline {5}Ergebnis}{17}{chapter.5}%
-\contentsline {chapter}{\numberline {6}Ausblick}{18}{chapter.6}%
-\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
+\contentsline {subsection}{\numberline {4.3.2}Mechanisch}{18}{subsection.4.3.2}%
+\contentsline {chapter}{\numberline {5}Ausblick}{20}{chapter.5}%
+\contentsline {chapter}{\numberline {A}Quellcode}{25}{appendix.A}%
+\contentsline {section}{\numberline {A.1}Arduino-Quellcode}{25}{section.A.1}%
+\contentsline {section}{\numberline {A.2}ROS 2-Nodes Quellcode}{39}{section.A.2}%
+\contentsline {subsection}{\numberline {A.2.1}Datenverarbeitungs-Node (Python)}{39}{subsection.A.2.1}%
+\contentsline {subsection}{\numberline {A.2.2}Kollisionserkennungs-Node (Python)}{44}{subsection.A.2.2}%
+\contentsline {chapter}{\numberline {B}3D-Modelle des Sensormoduls}{52}{appendix.B}%
+\contentsline {chapter}{\numberline {C}Versuchsaufbau}{56}{appendix.C}%
diff --git a/Praxiprojekt_Bericht/fhacmb.sty b/Praxiprojekt_Bericht/fhacmb.sty
index 5c58b2ab7d405ad9fac0d91219e17a916f29d89a..0c994c930484cb57f754fcaa5eea8c7599dde889 100644
--- a/Praxiprojekt_Bericht/fhacmb.sty
+++ b/Praxiprojekt_Bericht/fhacmb.sty
@@ -73,10 +73,6 @@
\def\@betreuer{betreuer}
\newcommand\betreuer[1]{\gdef\@betreuer{#1}}
-% Variable und Kommando für Co-Betreuer
-\def\@cobetreuer{cobetreuer}
-\newcommand\cobetreuer[1]{\gdef\@cobetreuer{#1}}
-
% Variable und Kommando für externen Betreuer
\def\@extbetreuer{extbetreuer}
\newcommand\extbetreuer[1]{\gdef\@extbetreuer{#1}}
@@ -148,9 +144,6 @@
{\hlAnormal
Studiengang \@studiengang
}\par
- \ifthenelse{\equal{\@vertiefung}{}}{}{
- Vertiefungsrichtung \@vertiefung
- }\par
\vspace{20mm}
\@arbeitstyp\par
{\hlAbold
@@ -165,10 +158,6 @@
\ifthenelse{\equal{\@betreuer}{}}{}{
\textls{Referent:} & \@betreuer\\
}
- % Zeile Korreferent nur, wenn Angabe vorhanden
- \ifthenelse{\equal{\@cobetreuer}{}}{}{
- \textls{Korreferent:} & \@cobetreuer\\
- }
% Zeile Externer Betreuer nur, wenn Angabe vorhanden
\ifthenelse{\equal{\@extbetreuer}{}}{}{
\textls{Externer Betreuer:} & \@extbetreuer\\[8mm]
diff --git a/Praxiprojekt_Bericht/images/Halterung_Seite.jpg b/Praxiprojekt_Bericht/images/Halterung_Seite.jpg
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diff --git a/Praxiprojekt_Bericht/images/Halterung_Seite_Oben.jpg b/Praxiprojekt_Bericht/images/Halterung_Seite_Oben.jpg
new file mode 100644
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diff --git a/Praxiprojekt_Bericht/images/Screenshot 2025-01-20 013418.jpg "b/Praxiprojekt_Bericht/images/Halterung_Seite_Oben_schr\303\244g.jpg"
similarity index 100%
rename from Praxiprojekt_Bericht/images/Screenshot 2025-01-20 013418.jpg
rename to "Praxiprojekt_Bericht/images/Halterung_Seite_Oben_schr\303\244g.jpg"
diff --git a/Praxiprojekt_Bericht/images/Halterung_Sete_1.jpg b/Praxiprojekt_Bericht/images/Halterung_Sete_1.jpg
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diff --git a/Praxiprojekt_Bericht/images/Halterung_Top.jpg b/Praxiprojekt_Bericht/images/Halterung_Top.jpg
new file mode 100644
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Binary files /dev/null and b/Praxiprojekt_Bericht/images/Halterung_Top.jpg differ
diff --git a/Praxiprojekt_Bericht/images/Versuchsaufbau_mit_VL53L5CX.jpg b/Praxiprojekt_Bericht/images/Versuchsaufbau_mit_VL53L5CX.jpg
new file mode 100644
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Binary files /dev/null and b/Praxiprojekt_Bericht/images/Versuchsaufbau_mit_VL53L5CX.jpg differ
diff --git a/Praxiprojekt_Bericht/images/Wiring_Schematic.png b/Praxiprojekt_Bericht/images/Wiring_Schematic.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ef3e1b46448d3843064e6ce2f464d65c7d34338
Binary files /dev/null and b/Praxiprojekt_Bericht/images/Wiring_Schematic.png differ
diff --git a/Praxiprojekt_Bericht/images/sensormodul.jpg b/Praxiprojekt_Bericht/images/sensormodul.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1a41f2d901fd521de500f17f345bf729458ca84c
Binary files /dev/null and b/Praxiprojekt_Bericht/images/sensormodul.jpg differ
diff --git a/Praxiprojekt_Bericht/pcl_rob_node.py b/Praxiprojekt_Bericht/pcl_rob_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..b4a0ae15abf208ff28cc2ab8f13ad63bda2469cd
--- /dev/null
+++ b/Praxiprojekt_Bericht/pcl_rob_node.py
@@ -0,0 +1,234 @@
+import rclpy
+import rclpy.duration
+from rclpy.node import Node
+from sensor_msgs.msg import PointCloud2
+from tf2_ros import TransformListener, Buffer
+import numpy as np
+import trimesh
+import std_msgs.msg
+import sensor_msgs.msg as sensor_msgs
+import sensor_msgs_py.point_cloud2 as pc2
+from std_msgs.msg import Header
+from scipy.spatial.transform import Rotation as R
+import os
+
+class PointCloudProcessor(Node):
+ def __init__(self):
+ super().__init__('pointcloud_processor')
+ self.subscription = self.create_subscription(
+ PointCloud2,
+ 'pcd',
+ self.pointcloud_callback,
+ 10)
+ self.subscription # prevent unused variable warning
+ self.publisher_valid = self.create_publisher(PointCloud2, '/valid_from_perspective', 10)
+ self.publisher_invalid = self.create_publisher(PointCloud2, '/invalid_from_perspective', 10)
+
+ self.tf_buffer = Buffer()
+ self.tf_listener = TransformListener(self.tf_buffer, self)
+
+ base_path = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision_custom')
+ self.mesh_shoulder_link_static = trimesh.load_mesh(os.path.join(base_path, 'shoulder.stl'))
+ self.mesh_forearm_link_static = trimesh.load_mesh(os.path.join(base_path, 'forearm.stl'))
+ self.mesh_upperarm_link_static = trimesh.load_mesh(os.path.join(base_path, 'upperarm.stl'))
+ self.mesh_wrist1_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist1.stl'))
+ self.mesh_wrist2_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist2.stl'))
+ self.mesh_wrist3_link_static = trimesh.load_mesh(os.path.join(base_path, 'wrist3.stl'))
+
+ base_path_collision = os.path.join(os.path.expanduser('~'), 'robot-sensor', 'workspaces', 'COLCON_WS', 'src', 'ur_description', 'meshes', 'ur10e', 'collision')
+ self.mesh_base_link_static = trimesh.load_mesh(os.path.join(base_path_collision, 'base.stl'))
+
+ self.meshes_static = [
+ self.mesh_shoulder_link_static,
+ self.mesh_base_link_static,
+ self.mesh_forearm_link_static,
+ self.mesh_upperarm_link_static,
+ self.mesh_wrist1_link_static,
+ self.mesh_wrist2_link_static,
+ self.mesh_wrist3_link_static
+ ]
+
+ # Scale the meshes only in z and y
+ scale_matrix = np.eye(4)
+ scale_matrix[1, 1] = 2 # Scale y by 2
+ scale_matrix[2, 2] = 2 # Scale z by 2
+ for mesh in self.meshes_static:
+ mesh.apply_transform(scale_matrix)
+
+ def visualize_meshes(self,meshes):
+ scene = trimesh.Scene()
+ for mesh in meshes:
+ scene.add_geometry(mesh)
+ scene.show()
+
+ def pointcloud_callback(self, msg):
+ self.perspective_frame ='vl53l7cx_link'
+
+ try:
+ self.target_frame = 'vl53l7cx_link'
+ now = rclpy.time.Time()
+ transform_base = self.tf_buffer.lookup_transform(self.target_frame, 'world', now)
+ transform_shoulder = self.tf_buffer.lookup_transform(self.target_frame, 'shoulder_link', now)
+ transform_upperarm = self.tf_buffer.lookup_transform(self.target_frame, 'upper_arm_link', now)
+ transform_forearm = self.tf_buffer.lookup_transform(self.target_frame, 'forearm_link', now)
+ #transform_vl53l7cx = self.tf_buffer.lookup_transform(self.target_frame, 'vl53l7cx_link', now)
+ transform_wrist1 = self.tf_buffer.lookup_transform(self.target_frame, 'wrist_1_link', now)
+ transform_wrist2 = self.tf_buffer.lookup_transform(self.target_frame, 'wrist_2_link', now)
+ transform_wrist3 = self.tf_buffer.lookup_transform(self.target_frame, 'wrist_3_link', now)
+ except Exception as e:
+ self.get_logger().error(f'Error in looking up transform: {e}')
+ return
+
+
+ self.mesh_shoulder_link = self.transform_mesh(transform_shoulder, self.mesh_shoulder_link_static)
+ self.mesh_forearm_link = self.transform_mesh(transform_forearm, self.mesh_forearm_link_static)
+ self.mesh_base_link = self.transform_mesh(transform_base, self.mesh_base_link_static)
+ self.mesh_upperarm_link = self.transform_mesh(transform_upperarm, self.mesh_upperarm_link_static)
+ self.mesh_wrist1_link = self.transform_mesh(transform_wrist1, self.mesh_wrist1_link_static)
+ self.mesh_wrist2_link = self.transform_mesh(transform_wrist2, self.mesh_wrist2_link_static)
+ self.mesh_wrist3_link = self.transform_mesh(transform_wrist3, self.mesh_wrist3_link_static)
+ # Move the upperarm mesh in the negative z direction by 30 centimeters
+ translation_matrix = trimesh.transformations.translation_matrix([0, 0, -0.17])
+ self.mesh_upperarm_link.apply_transform(translation_matrix)
+ # Move the forearm mesh in the positive z direction by 5 centimeters
+ translation_matrix_forearm = trimesh.transformations.translation_matrix([0, 0, -0.05])
+ self.mesh_forearm_link.apply_transform(translation_matrix_forearm)
+ self.meshes = [
+ self.mesh_shoulder_link,
+ self.mesh_base_link,
+ self.mesh_forearm_link,
+ self.mesh_upperarm_link,
+ self.mesh_wrist1_link,
+ self.mesh_wrist2_link,
+ self.mesh_wrist3_link
+ ]
+
+ #self.visualize_meshes(self.meshes)
+
+ self.transformed_points_base = self.do_transform_cloud(msg, transform_base.transform)
+ self.points = np.array([(point['x'], point['y'], point['z']) for point in pc2.read_points(msg, field_names=("x", "y", "z"), skip_nans=True)], dtype=np.float64)
+
+ inside_base = self.mesh_base_link.contains(self.points)
+ inside_forearm = self.mesh_forearm_link.contains(self.points)
+ inside_upperarm = self.mesh_upperarm_link.contains(self.points)
+ inside_wrist1 = self.mesh_wrist1_link.contains(self.points)
+ inside_wrist2 = self.mesh_wrist2_link.contains(self.points)
+ inside_wrist3 = self.mesh_wrist3_link.contains(self.points)
+ inside_shoulder = self.mesh_shoulder_link.contains(self.points)
+ inside_robot = np.logical_or.reduce((
+ inside_base,
+ inside_forearm,
+ inside_upperarm,
+ inside_wrist1,
+ inside_wrist2,
+ inside_wrist3,
+ inside_shoulder
+ ))
+ outside_robot = np.logical_not(inside_robot)
+ self.points =np.asanyarray(self.points)
+ #points_valid = np.hstack((self.transformed_points_base, inside_shoulder.reshape(10000,1)))
+ points_outside_robot = self.points[outside_robot]
+ points_inside_robot = self.points[inside_robot]
+ self.publish_point_cloud(points_outside_robot, points_inside_robot)
+ self.get_logger().info(f'Number of points outside robot: {len(points_outside_robot)}')
+ self.get_logger().info(f'Number of points inside robot: {len(points_inside_robot)}')
+ def do_transform_cloud(self, cloud, trans):
+ # Convert the cloud to a numpy array
+ quaternion = (trans.rotation.x, trans.rotation.y, trans.rotation.z, trans.rotation.w)
+ rotation = R.from_quat(quaternion)
+ self.points = pc2.read_points(cloud, skip_nans=True)
+ list_of_tuples = [tuple(row) for row in self.points]
+
+ points = []
+ for point in list_of_tuples:
+ point = rotation.apply(point)
+ point[0] = point[0] + trans.translation.x
+ point[1] = point[1] + trans.translation.y
+ point[2] = point[2] + trans.translation.z
+ points.append(point)
+ return points
+
+ def transform_mesh(self, transform, mesh_static):
+ # Extract the translation and rotation from the transform
+ translation = transform.transform.translation
+ rotation = transform.transform.rotation
+
+ # Create a translation matrix
+ translation_matrix = trimesh.transformations.translation_matrix([translation.x, translation.y, translation.z])
+
+ # Create a rotation matrix from the quaternion
+ rotation_matrix = trimesh.transformations.quaternion_matrix([rotation.w, rotation.x, rotation.y, rotation.z])
+
+ # Combine the translation and rotation matrices into a single transformation matrix
+ transformation_matrix = np.dot(translation_matrix, rotation_matrix)
+ # Apply the transformation matrix to the mesh
+ transformed_mesh = mesh_static.copy()
+ transformed_mesh.apply_transform(transformation_matrix)
+ return transformed_mesh
+
+ def publish_point_cloud(self,points_valid,points_invalid):
+
+ # Create PointCloud2 message
+ header = std_msgs.msg.Header()
+ header.frame_id = self.perspective_frame # The frame ID (replace with your robot's frame)
+ # Publish the message
+ self.publisher_valid.publish(self.point_cloud(points_valid, self.perspective_frame))
+ self.publisher_invalid.publish(self.point_cloud(points_invalid, self.perspective_frame))
+
+ def point_cloud(self, points, parent_frame):
+ """ Creates a point cloud message.
+ Args:
+ points: Nx3 array of xyz positions.
+ parent_frame: frame in which the point cloud is defined
+ Returns:
+ sensor_msgs/PointCloud2 message
+
+ Code source:
+ https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0
+
+ References:
+ http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html
+ http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html
+ http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html
+
+ """
+ # In a PointCloud2 message, the point cloud is stored as an byte
+ # array. In order to unpack it, we also include some parameters
+ # which desribes the size of each individual point.
+ ros_dtype = sensor_msgs.PointField.FLOAT32
+ dtype = np.float32
+ itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes.
+
+ data = points.astype(dtype).tobytes()
+
+ # The fields specify what the bytes represents. The first 4 bytes
+ # represents the x-coordinate, the next 4 the y-coordinate, etc.
+ fields = [sensor_msgs.PointField(
+ name=n, offset=i*itemsize, datatype=ros_dtype, count=1)
+ for i, n in enumerate('xyz')]
+
+ # The PointCloud2 message also has a header which specifies which
+ # coordinate frame it is represented in.
+ header = Header(frame_id=parent_frame)
+
+ return sensor_msgs.PointCloud2(
+ header=header,
+ height=1,
+ width=points.shape[0],
+ is_dense=False,
+ is_bigendian=False,
+ fields=fields,
+ point_step=(itemsize * 3), # Every point consists of three float32s.
+ row_step=(itemsize * 3 * points.shape[0]),
+ data=data
+ )
+
+def main(args=None):
+ rclpy.init(args=args)
+ pointcloud_processor = PointCloudProcessor()
+ rclpy.spin(pointcloud_processor)
+ pointcloud_processor.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/Praxiprojekt_Bericht/ser_test_node.py b/Praxiprojekt_Bericht/ser_test_node.py
new file mode 100644
index 0000000000000000000000000000000000000000..360eab863ba44dc1a31f07e6fa8fa25ef9628605
--- /dev/null
+++ b/Praxiprojekt_Bericht/ser_test_node.py
@@ -0,0 +1,146 @@
+import serial
+import rclpy
+import json
+import numpy as np
+from rclpy.node import Node
+import sensor_msgs.msg as sensor_msgs
+from std_msgs.msg import Header
+angles = [19.923,14.515,8.829,2.964,182.964,188.829,194.515,199.923]
+points = np.empty((0, 0))
+# Define the rotation angle in radians
+theta = np.pi / 4 # 45 degrees
+# Define the rotation matrix around the z-axis
+rotation_matrix = np.array([
+ [np.cos(theta), -np.sin(theta), 0],
+ [np.sin(theta), np.cos(theta), 0],
+ [0, 0, 1]
+])
+
+class SerialListPublisher(Node):
+ def __init__(self, serial_port='/dev/ttyACM0', baudrate=115200): # the Serialport or baudrate may have to be edited when changing host pc
+ super().__init__('serial_list_publisher')
+ self.pcd_publisher = self.create_publisher(sensor_msgs.PointCloud2, 'pcd', 10)
+ self.serial_port = serial.Serial(serial_port, baudrate, timeout=None)
+ self.get_logger().info(f"Connected to {serial_port} at {baudrate} baud")
+ self.read_serial_and_publish()
+
+ def read_serial_and_publish(self):
+ try:
+ while rclpy.ok():
+ line = self.serial_port.readline().decode('utf-8').strip() # Read a line from the serial port
+ data = json.loads(line) # Interpret arrays from JSON String
+ points_all=[] # Create an empty List for the Arrays of points from the Sensors
+ count = 0 # Set the Counter to Zero. The Counter is needed to rotate the sensor Points in the self.create_plc_from_distance function
+ for key, array in data.items(): # a for-Loop that goes through the arrays of data from each sensor
+ points_all.append(self.create_pcd_from_distance(np.array(array).reshape(8,8), count*45)) # in this line we create an 8x8 np.array from the sensor data list, then we feed it into the the create_plc_from_distance() with the angle we want the points to be rotated around the z-axis
+ count = count + 1 # the counter counts one up
+ self.points = np.vstack(points_all) # stacking the sensor 64x3 arrays to one (count*64)x3 vertically
+ self.pcd = self.point_cloud(self.points, 'vl53l7cx_link') # converting the np.array to pointcloud data with the parent_frame. The parent_frame has to be edited in the future to suit the use-case
+ self.pcd_publisher.publish(self.pcd) # publishing the pointcloud2 topic
+
+ except serial.SerialException as e:
+ self.get_logger().error(f"Serial error: {e}")
+ except KeyboardInterrupt:
+ self.get_logger().info("Shutting down...")
+ finally:
+ self.serial_port.close()
+
+ def create_pcd_from_distance(self, distance, rotation_angle):
+ # Define the rotation angle in radians
+ theta = np.radians(rotation_angle) # 45 degrees
+ # Define the rotation matrix around the z-axis
+ rotation_matrix = np.array([
+ [np.cos(theta), -np.sin(theta), 0],
+ [np.sin(theta), np.cos(theta), 0],
+ [0, 0, 1]
+ ])
+ rotation_matrix_90_y = np.array([
+ [0, 0, 1],
+ [0, 1, 0],
+ [-1, 0, 0]
+ ])
+ #declaring the lists for the koordinates components
+ x_collum = []
+ z_collum = []
+ y_collum = []
+ for j in range(len(distance[:][0])):
+ for i in range(len(distance[0])):
+ x = (distance[i][j])
+ x_collum.append(x)
+
+ # Calculate x and y using trigonometry
+ z = x * np.sin(np.radians(angles[j]))
+ y = x * np.sin(np.radians(angles[i]))
+
+ z_collum.append(z)
+ y_collum.append(y)
+ z_collum = np.array(z_collum).reshape(64,1).astype(int) # Convert list to numpy array
+ y_collum = np.array(y_collum).reshape(64,1).astype(int) # Convert list to numpy array
+ x_collum = np.array(x_collum).reshape(64,1).astype(int) # Convert list to numpy array
+ self.points = np.dot(np.hstack((x_collum, y_collum, z_collum ))/1000, rotation_matrix.T) # Creating a 64x3 array out of the z_collum, y_collum and x_collum
+ self.points = np.dot(self.points, rotation_matrix_90_y.T)
+ return self.points
+
+ def point_cloud(self, points, parent_frame):
+ """ Creates a point cloud message.
+ Args:
+ points: Nx3 array of xyz positions.
+ parent_frame: frame in which the point cloud is defined
+ Returns:
+ sensor_msgs/PointCloud2 message
+
+ Code source:
+ https://gist.github.com/pgorczak/5c717baa44479fa064eb8d33ea4587e0
+
+ References:
+ http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointCloud2.html
+ http://docs.ros.org/melodic/api/sensor_msgs/html/msg/PointField.html
+ http://docs.ros.org/melodic/api/std_msgs/html/msg/Header.html
+
+ """
+ # In a PointCloud2 message, the point cloud is stored as an byte
+ # array. In order to unpack it, we also include some parameters
+ # which desribes the size of each individual point.
+ ros_dtype = sensor_msgs.PointField.FLOAT32
+ dtype = np.float32
+ itemsize = np.dtype(dtype).itemsize # A 32-bit float takes 4 bytes.
+
+ data = points.astype(dtype).tobytes()
+
+ # The fields specify what the bytes represents. The first 4 bytes
+ # represents the x-coordinate, the next 4 the y-coordinate, etc.
+ fields = [sensor_msgs.PointField(
+ name=n, offset=i*itemsize, datatype=ros_dtype, count=1)
+ for i, n in enumerate('xyz')]
+
+ # The PointCloud2 message also has a header which specifies which
+ # coordinate frame it is represented in.
+ header = Header(frame_id=parent_frame)
+
+ return sensor_msgs.PointCloud2(
+ header=header,
+ height=1,
+ width=points.shape[0],
+ is_dense=False,
+ is_bigendian=False,
+ fields=fields,
+ point_step=(itemsize * 3), # Every point consists of three float32s.
+ row_step=(itemsize * 3 * points.shape[0]),
+ data=data
+ )
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = SerialListPublisher(serial_port='/dev/ttyACM0', baudrate= 115200)
+ try:
+ rclpy.spin(node)
+ except KeyboardInterrupt:
+ node.get_logger().info("Node stopped by user.")
+ finally:
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/Praxiprojekt_Bericht/texput.log b/Praxiprojekt_Bericht/texput.log
new file mode 100644
index 0000000000000000000000000000000000000000..64fcf1ea2e04be88a258d384c6cade1cd98ff526
--- /dev/null
+++ b/Praxiprojekt_Bericht/texput.log
@@ -0,0 +1,21 @@
+This is pdfTeX, Version 3.141592653-2.6-1.40.26 (TeX Live 2024) (preloaded format=pdflatex 2025.2.18) 26 FEB 2025 00:28
+entering extended mode
+ restricted \write18 enabled.
+ %&-line parsing enabled.
+**fhacmb.tex
+
+! Emergency stop.
+<*> fhacmb.tex
+
+*** (job aborted, file error in nonstop mode)
+
+
+Here is how much of TeX's memory you used:
+ 3 strings out of 473200
+ 102 string characters out of 5720278
+ 391991 words of memory out of 5000000
+ 23357 multiletter control sequences out of 15000+600000
+ 558837 words of font info for 36 fonts, out of 8000000 for 9000
+ 1141 hyphenation exceptions out of 8191
+ 0i,0n,0p,1b,6s stack positions out of 10000i,1000n,20000p,200000b,200000s
+! ==> Fatal error occurred, no output PDF file produced!
diff --git a/Praxiprojekt_Bericht/text.tex b/Praxiprojekt_Bericht/text.tex
index 2983a856e786b38139ef40eb52193740f4eea63f..fb35b8227856a534b5ecd99fc020350ea772304b 100644
--- a/Praxiprojekt_Bericht/text.tex
+++ b/Praxiprojekt_Bericht/text.tex
@@ -51,16 +51,16 @@
Zum anderen geht mit der Industriellen Revolution -Industrie 4.0- ein steigender Bedarf von personalisierten Produkten einher, die das etablieren von Routinen in der Produktion unattraktiv machen. Das Bedeutet, dass \acrshort{Cobots} besser werden müssen in der Wahrnehmung ihrer Umgebung, damit man sie universeller einsetzbar machen kann.\cite{liu_application_2024}
\section{Kollisionsvermeidung und Kollisionserkennung}
%Warum ist Kollisionsvermeidung und Kollisionserkennung überhaupt wichtig?
- Roboterarme müssen große Kräfte aufbringen können, um Lasten zu heben. Ein Roboterarm ohne Sensoren hat keine Möglichkeit zu erkennen, ob er die erwünschte \gls{Pose} des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein \gls{KO} ausgeübt wird nur von der Motorleistung beschränkt, was Gefahren für Mensch und Material birgt.
+ Roboterarme müssen große Kräfte aufbringen können, um Lasten zu heben. Ein Roboterarm ohne Sensoren hat keine Möglichkeit zu erkennen, ob er die erwünschte Pose des Endeffektors erreicht hat. Außerdem wird die Kraft, die von einem Roboterarm auf ein KO ausgeübt wird nur von der Motorleistung beschränkt, was Gefahren für Mensch und Material birgt.
\\
%Paper zur Kollisionsdetektion nur mit Drehgeber und Drehmoment-Wächter
- Mit einem Drehgeber kann ein serieller Roboter den absolut Winkel der Gelenke bestimmen und dadurch mit anderen geometrischen Eigenschaften der Kinematik die Absolut Position der einzelnen Achsen bestimmen. Durch die Verwendung von Drehmoment-Wächtern und Angaben zu Schwerpunkten, Gewicht und \gls{Pose} der einzelnen Achsen kann ein Soll-Drehmoment für jedes Gelenk in Drehrichtung bestimmt werden und mit dem Ist-Drehmoment verglichen werden. Unter der Voraussetzung das der Endeffektor kein Objekt gegriffen hat kann man davon ausgehen, dass es bei einer Abweichung, die nicht auf Beschleunigungen zurück zu führen ist, zu einer Kollision gekommen ist.\cite{popov_collision_2017}
+ Mit einem Drehgeber kann ein serieller Roboter den absolut Winkel der Gelenke bestimmen und dadurch mit anderen geometrischen Eigenschaften der Kinematik die Absolut Position der einzelnen Achsen bestimmen. Durch die Verwendung von Drehmoment-Wächtern und Angaben zu Schwerpunkten, Gewicht und Pose der einzelnen Achsen kann ein Soll-Drehmoment für jedes Gelenk in Drehrichtung bestimmt werden und mit dem Ist-Drehmoment verglichen werden. Unter der Voraussetzung das der Endeffektor kein Objekt gegriffen hat kann man davon ausgehen, dass es bei einer Abweichung, die nicht auf Beschleunigungen zurück zu führen ist, zu einer Kollision gekommen ist.\cite{popov_collision_2017}
\\
Drehgeber und Drehmoment-Wächter sind propriozeptive Sensoren und können nur Eigenschaften messen die sich auf den inneren Status des Roboterarms beziehen. \cite{noauthor_robotics_2021}
\\
%Unterschiedliche Paper zum Stand dere Technik in der Kollisionsvermeidung
\indent Bei der Kollisionsvermeidung kann man unterschiedliche Ansätze verfolgen.
- Eine der Optionen ist mit einer Wärmebild Kamera einen Menschen zu identifizieren und dann mit dem Bild einer \acrfull{RGB-D} zu überlagern um die Position des Menschen im \gls{AR} zu bestimmen.\cite{al_naser_fusion_2022}
+ Eine der Optionen ist mit einer Wärmebild Kamera einen Menschen zu identifizieren und dann mit dem Bild einer \acrfull{RGB-D} zu überlagern um die Position des Menschen im AR zu bestimmen.\cite{al_naser_fusion_2022}
\\
In einem anderen Paper wurde Kollisionsvermeidung erreicht in dem man den Roboter langsamer werden ließ wenn er einem Menschen zu nahe kam. Die Distanz hat man gemessen in dem man mit einer \acrfull{KI} den Video Input von einer Kinect Kamera ausgewertet hat.\cite{amaya-mejia_vision-based_2022}
\\
@@ -103,14 +103,12 @@
\\
Die letzte Art von \acrshort{ToF}, die ich im Rahmen dieses Kapitels berücksichtigen möchte ist der Solid-State Scanner. Der Vorteil von dieser Art Scanner ist, dass er keine sich bewegende Teile besitzt und sehr große Scann raten von bis zu 600000 Punkten/s erreichen kann.\cite{noauthor_vlp_nodate}
Der Sensor, den ich im Rahmen meines Praxisprojekts verwende, fällt auch in die Kategorie der Solid-State Scanner. Der VL53L7CX ist Flash-Sensor, dass bedeutet das die Leuchtdiode des Sensors einen ungerichteten Lichtimpuls aussendet. Die räumliche Wahrnehmung des Sensors erreicht man durch den speziellen Aufbau des Empfängers. Der Detektor besitzt 64 Kanäle die alle etwas unterschiedlich ausgerichtet sind. Dadurch sehen die einzelnen Kanäle nur ihre eigene festgelegte Richtungen innerhalb einer 40° Horizontalen und 40° Vertikalen \acrshort{FOV}\cite{noauthor_vl53l7cx_nodate}. In Abbildung 4 kann man das Package vom \acrfull{IC} des VL53L7CX sehen.
- \\
\begin{figure}[h]
\centering
- \includegraphics[scale=0.2]{images/VL53L7CX_Package.jpg}
+ \includegraphics[scale=0.5]{images/VL53L7CX_Package.jpg}
\caption{Package eines VL53L7CX, Source:\cite{noauthor_vl53l7cx_nodate}}
\label{VL53L7CX Package}
\end{figure}
-
\chapter{Umsetzung}
\section{Vorgehensweise}
Um erst mal herauszufinden, ob mein Vorhaben möglich ist habe ich auf Github nach ähnlichen Projekten gesucht. \cite{noauthor_tof_imager_micro_rosteensy_pcl_publisher_nodate} Da ich in meinem Projekt mehrere Sensoren verwenden will, wurde mir von meiner externen Betreuerin, Sophie Charlotte Keunecke, für die Umsetzung der Raspberry Pi Pico \cite{noauthor_pico-series_nodate} \acrfull{MCU} vorgeschlagen, da dieser \acrshort{MCU} zwei \acrfull{I2C} Interfaces besitzt. Zur Visualisierung der Daten will ich das \acrfull{RVIZ} Programm auf einem \acrfull{NUC} mit Ubuntu 22.04 mit \acrfull{ROS} Humble benutzen.
@@ -261,11 +259,38 @@
\section{Hardware}
\subsection{Elektronisch}
+ \begin{figure}[h]
+ \centering
+ \includegraphics[scale=0.5]{images/Wiring_Schematic.png}
+ \caption{Schaltplan von der Verkabelung von 16 VL53L7CX Sensoren}
+ \label{wiring}
+ \end{figure}
+ Der elektrische Aufbau basiert auf einer zentralen Steuereinheit, die über einen \acrshort{I2C}-Bus mehrere Time-of-Flight (ToF)-Sensoren anbindet. Dabei dient ein Mikrocontroller – in diesem Fall ein Raspberry Pi Pico – als Host, der die Kommunikation mit den Sensoren übernimmt und die erfassten Daten weiterverarbeitet. Die Sensoren vom Typ VL53L7CX sind über eine gemeinsame SCL- und SDA-Leitung mit dem Host verbunden. Da der \acrshort{I2C}-Bus von Natur aus eine offene Kollektor-Topologie nutzt, werden die beiden Leitungen durch Pull-up-Widerstände von jedem VL53L7CX-Modul auf ein definiertes High-Potential gezogen.
+ Da \acrshort{I2C}-Adresskonflikte bei der Nutzung mehrerer baugleicher Sensoren auftreten können, wird eine Lösung zur individuellen Adresszuweisung implementiert. Dies geschieht über die LPn-Pins der Sensoren, die über dedizierte GPIO-Pins des Mikrocontrollers gesteuert werden. Durch gezieltes Aktivieren und Deaktivieren einzelner Sensoren können diesen jeweils unterschiedliche \acrshort{I2C}-Adressen zugewiesen werden, sodass sie eindeutig ansprechbar sind.
+ Zusätzlich sind mehrere Multiplexer in der Schaltung integriert, um eine größere Anzahl an Sensoren verwalten zu können. Diese Multiplexer erlauben es, verschiedene Gruppen von Sensoren selektiv mit dem Mikrocontroller zu verbinden, wodurch die physikalische Begrenzung der \acrshort{I2C}-Geräteanzahl umgangen wird. Die Multiplexer selbst werden ebenfalls über Steuerleitungen angesteuert, die über den Mikrocontroller aktiviert oder deaktiviert werden können.
+ Dieser Aufbau erlaubt es, eine Vielzahl an Abstandsmessungen gleichzeitig durchzuführen und in Echtzeit auszuwerten. Die gewonnenen Daten werden anschließend über ein \acrshort{USB}-Kabel an ein übergeordnetes System weitergeleitet, um eine präzise Kollisionsvermeidung zu ermöglichen.
+ \cleardoublepage
\subsection{Mechanisch}
-\chapter{Ergebnis}
+ \begin{figure}[h]
+ \centering
+ \includegraphics[scale=0.6]{images/sensormodul.jpg}
+ \caption{Bildschirmaufnahme vom Sensormodul aus Fusion}
+ \label{fusion_modul}
+ \end{figure}
+ In Abbildung \ref{fusion_modul} kann man das Sensormodul sehen, das speziell für die Montage an einem Roboterarm konzipiert wurde. Sein Aufbau ist darauf ausgelegt, eine nahezu lückenlose Rundumüberwachung zu gewährleisten. Der Pi Pico liegt im inneren des Aufbaus um den \acrshort{MCU} selbst und die Kontakte vor Stößen zu schützen. Auf der Innenseite des Modells sind 4 Bohrungen für Schmelzgewinde um den Raspberry Pi Pico mit vier M2 Schrauben zu fixieren.
+ Das Sensormodul wird in zwei Hälften gefertigt. Die beiden Teile vom Modul positioniert man um den Unterarm des Roboterarms und verbindet Sie mit zwei M2 Schrauben. An der Unterseite sind drei Bohrungen in die man Schmelzgewinde einlässt und mit drei M2 Schrauben kann man das Modell am Arm an einer bestimmten Höhe montieren.
+ Um eine lückenlose Rundumüberwachung zu gewährleisten, sind die Sensoren in einem ringförmigen Muster um das Modul herum angeordnet. Diese Anordnung stellt sicher, dass keine zu großen toten Winkel entstehen und dass Objekte aus allen Richtungen erfasst werden können.
+ Die Wandstärke vom Modell wurde möglichst dünn gewählt, um die Druckzeit im 3D-Drucker zu reduzieren und um möglichst viel Platz für die Verkabelung im inneren der Halterung zu haben. Die Leiterplatinen von den Sensoren haben zwei knapp über 2 Millimeter große Montagelöcher auf der einen Seite und die Pin-Löcher auf der gegenüberliegenden Seite. Um die Pins von der Innenseite der Halterung erreichen zu können, ist hinter jeder Leiterplatine eine Aussparung. Um die Schmelzgewinde für die Montage der Leiterplatine zu halten, ist hinter jedem Montagepunkt eine zylinderförmige Ansammlung von \acrfull{PLA}.
\chapter{Ausblick}
-
+ Im Rahmen dieses Projekts wurde ein Sensorsystem zur Kollisionsvermeidung für einen \acrshort{Cobot} entwickelt. Die Ergebnisse zeigen, dass die Verwendung von \acrshort{ToFs} in Kombination mit einem Raspberry Pi Pico Mikrocontroller und dem \acrshort{ROS} eine effektive Möglichkeit darstellt, den Arbeitsraum eines \acrshort{Cobot} zu überwachen und potenzielle Kollisionen zu vermeiden. Die präzisen Entfernungsdaten der \acrshort{ToFs} ermöglichen es, ein detailliertes 3D-Bild der Umgebung zu erstellen und somit eine zuverlässige Kollisionsvermeidung zu ermöglichen.
+
+ Die Integration des Systems in eine \acrshort{ROS}-Umgebung ermöglicht eine flexible und erweiterbare Architektur, die es erlaubt, das System an verschiedene Roboterplattformen anzupassen. Die Verwendung von \acrshort{RVIZ} zur Visualisierung der Sensordaten und Gazebo Classic zur Simulation des Roboters und seiner Umgebung hat sich als äußerst hilfreich erwiesen, um das System zu testen und zu validieren.
+
+ Für zukünftige Entwicklungen gibt es mehrere Möglichkeiten, das System weiter zu verbessern. Eine Möglichkeit wäre die Integration von \acrshort{KI}, um die Daten der \acrshort{ToFs} noch effizienter zu verarbeiten und eine präzisere Kollisionsvermeidung zu ermöglichen. Beispielsweise könnten \acrshort{KI}-Algorithmen verwendet werden, um Objekte in der Umgebung zu erkennen und zu klassifizieren, um so das Verhalten des \acrshort{Cobot} entsprechend anzupassen.
+
+ Eine weitere Möglichkeit wäre die Integration weiterer Sensoren, wie beispielsweise Kameras oder \acrfull{IMU}, um ein noch umfassenderes Bild der Umgebung zu erhalten oder die Montage zu erleichtern in dem man mit der \acrshort{IMU} die Ausrichtung der Sensoren zu bestimmen. Die Kombination verschiedener Sensortypen könnte die Robustheit und Zuverlässigkeit des Systems erhöhen.
+
+ Zusätzlich könnte die Software optimiert werden, um die Latenzzeit zu reduzieren und die Reaktionsgeschwindigkeit des \acrshort{Cobot} zu erhöhen. Dies wäre besonders wichtig in dynamischen Umgebungen, in denen sich Objekte schnell bewegen.
+
+ Das gesamte Projekt, einschließlich der Software und des Hardware-Designs, ist auf GitHub verfügbar. Interessierte können das Projekt unter folgendem Link einsehen und weiterentwickeln: https://git-ce.rwth-aachen.de/rene.ebeling/robot-sensor. Die Open-Source-Natur des Projekts ermöglicht es, dass andere Entwickler das System an ihre spezifischen Anforderungen anpassen und so zur Weiterentwicklung der kollaborativen Robotik beitragen können.
\cleardoublepage
-\bibliography{BA}
-
-\end{document}
diff --git a/Praxiprojekt_Bericht/titelangaben.tex b/Praxiprojekt_Bericht/titelangaben.tex
index 76fff6fc09f449cfd2100df64628a213ea1ec3de..ad29064ddc4bf741acfaee602a23fa171623d13b 100644
--- a/Praxiprojekt_Bericht/titelangaben.tex
+++ b/Praxiprojekt_Bericht/titelangaben.tex
@@ -2,12 +2,10 @@
\arbeitstyp{Praxisprojekt Bericht}
\fachbereich{Maschinenbau und Mechatronik}
\studiengang{Mechatronik}
-\vertiefung{-}
\titel{Mechatronische Entwicklung eines extrinsischen\\ Time-of-Flight-Sensorsystems und Fusion mit intrinsischen Sensoren zur Kollisionsvermeidung in der Robotik}
\autor{René Ebeling}
\matrnr{3279194}
\betreuer{Prof. Dr. rer. nat. Klaus-Peter Kämper}
-\cobetreuer{-}
\extbetreuer{Sophie Charlotte Keunecke M.Sc.}
\datum{\today}
-\dank{Dank, Bruder. Viel Ehre für dich.}
+\dank{}
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