scan_volume

scan moving truck with 2d Lidar LMS111, extract 3d model of empty truck and filled truck to caclate volume of sand/soil/clay

Install

http://wiki.ros.org/LMS1xx
At root path, catkin_make

Set env:

cd devel,  source setup.bash

Connect

Physical: Connect with ethernet cable.
Software: -->“Edit Connections” -->Add Ethernet connection name as ”LMS111” -->IPV4 -->Create a new IP:192.168.0.4,Netmask：192.168.255.255，Gateway：192.168.0.1
cd scan_volume/src/rotate3D/scripts
./connect_lms111.sh

reord

cd scan_volume/src/rotate3D/scripts
./record.sh

Play

cd scan_volume/src/rotate3D/scripts/log
./play.sh

Visualization

rosrun rviz rviz
In rviz: Add --> by topic --> LaserScan --> FixdFrame: change map to laser
	 Add --> by topic --> pcl_3d
	 Decay time: 1000

Truck volume example

real volume = 3.93 L

z_offset = 0.684 sand1_volume = 8.975043 - 5.861451 = 3.1136 20.77%3 sand2_volume = 9.274320 - 5.861451 = 3.4129 13.158%

z_offset = 0.884 sand1_volume = 29.166270 - 25.996145 = 3.17012 19.33% sand2_volume = 29.490175 - 25.996145 = 3.49403 11.093%

raw_pcl: