Working with 3D point clouds in ROS

A point cloud is a set of data points in 3D space. Such data is usually derived from time-of-flight, structured light or stereo reconstruction. Laser scanners such as the Hukuyo or Velodyne provide a planar scan or 3D coloured point cloud respectively. The perception_pcl package is the PCL ROS interface stack. A previous post covered how to integrate the Point…Read more Working with 3D point clouds in ROS

Updating the RealSense nodelet

The ROS Wrapper for Intel RealSense Devices provides a ROS nodelet interface between the camera and the ROS system. Intel updates this ROS package on a fairly regular basis, which could lead to API version mismatch errors. When this happens, the camera (sometimes) works fine on realsense-viewer but any code using the RealSense nodelet fails to compile.…Read more Updating the RealSense nodelet

Integrating the Hokuyo URG Lidar with ROS

The Hukuyo URG is a lightweight, affordable USB powered lidar sensor. It outputs a single planar scan with 240º scanning range at 0.36º angular resolution and scan rate of 100ms/scan. This sensor can be used for, amongst other things, indoor mapping or collision avoidance. There is presently no pre-compiled driver available for ROS kinetic so…Read more Integrating the Hokuyo URG Lidar with ROS

Integrating the Intel RealSense D435 with ROS

The Intel RealSense D435 is the latest RGBD camera available from Intel,  and is an upgrade from the Intel R200 camera already discussed in a previous post. The D435 is a stereo depth camera that is designed to work both indoors and outdoors. The 3D reconstruction is constructed using active Infrared (IR) stereo. Setting up the…Read more Integrating the Intel RealSense D435 with ROS

Step-by-step setup of a new laptop for robotics

Setting up a new laptop for robotics can be time consuming. This post will focus on using the Dell Alienware 15 R4 laptop.  With its Intel i9 processor and Nvidia GTX 1080 graphics card, it's the perfect laptop for robotics or computer vision projects. Setting up the laptop comprises of two main steps: installing Ubuntu…Read more Step-by-step setup of a new laptop for robotics