Introduction

ROS packages for large-scale metrology project, which extracts circle and sphere feature online with gocator_3210 and ABB robot.

Dependency

To install GoSDK dependency, download the following repo:

gocator_interface

and set up gocater_interface with instructions under README

Install

after dependency is set up, installation can begin.

0. mkdir -p workspace/src && cd workspace/src
1. git clone [email protected]:Logan-Shi/large-scale-variable-poses-online-measuring-system.git
2. cd .. && catkin_make
3. source devel/setup.bash

Current Supported function

1. gocator 3210 point cloud capture: roslaunch gocator_3200 gocator_saver.launch (space for new shot, "s" to save)

2. can generate ideal target ball ply file: roslaunch target_generator target_generator.launch

3. added online target ball measure with customizable params: roslaunch measure_node measure_target_ball

4. added online workpiece measure with customizable params: roslaunch measure_node measure_workpiece

5. can visualize saved ply using rviz: roslaunch gocator_publisher gocator_publisher.launch

Measure results

system achieved 0.1mm accuracy under the range of 640mm at the moment.