Branch Detection Worksapce

TODO:

1. For Contribution 2!!!: https://stackoverflow.com/questions/77134139/fit-3d-cylinder-in-a-point-cloud
2. https://stackoverflow.com/questions/43784618/fit-a-cylinder-to-scattered-3d-xyz-point-data/44164662#44164662

This is a ROS2 workspace. Various packages have been provided for the development of ToF branch detection.

In order to run this package, a microROS package must be created. Some steps from the microROS tutorials can be omitted.

# Source the ROS 2 installation
source /opt/ros/$ROS_DISTRO/setup.bash

# Enter the branch_detection_ws workspace and download the micro-ROS tools
cd branch_detection_ws
git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup

# Update dependencies using rosdep
sudo apt update && rosdep update
rosdep install --from-paths src --ignore-src -y

# Install pip
sudo apt-get install python3-pip

# Build micro-ROS tools and source them
colcon build
source install/local_setup.bash

Next, create the microROS agent:

# Download micro-ROS-Agent packages
ros2 run micro_ros_setup create_agent_ws.sh

Finally, build the agent and source the package.

# Build step
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash

Running the microROS agent

The agent is launched from the teensy32_tof_bringup package, but can be individually run using the following command:

ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0 ROS_DOMAIN_ID=0