FORGESCAN REALSENSE WRAPPER

Hardware

Based on an Intel Realsense D455 is the realsense camera used for this project. It is required to be plugged in to run the main reconstruction service.

FORGESCAN DOCUMENTATION

ForgeScan Github.io

Dependencies

Open3D

This package depends on Open3D for processing and visualization. If not installed, follow the steps here.

Note: If you do not change the default install path, you should run sudo make install when installing Open3D. By default, it will require sudo permissions to create the files.

If Open3D cmake has errors

If you encounter the following error when running cmake .. for Open3D:

CMake Error at CMakeLists.txt:1 (cmake_minimum_required):
  CMake 3.24 or higher is required

You will need to update your CMake version. However, if you sudo apt remove and sudo apt install to update it, this will break your ROS distro.

To prevent breaks in the ROS distro, do the following:

• Download a new version of cmake, recommended to use the latest release here
• Unzip the cmake download
• Build and install cmake

cd ~/Downloads/cmake-<maj>-<min>-<patch>/  # or wherever you downloaded cmake
./bootstrap --prefix=$HOME/cmake-install  # or wherever you'd like to install cmake
make
make install
export PATH=$HOME/cmake-install/bin:$PATH  # should match install path in line 2
export CMAKE_PREFIX_PATH=$HOME/cmake-install:$CMAKE_PREFIX_PATH  # should match install path in line 2

The last 2 lines can be placed in .bashrc if desired.

If Open3D cmake has no errors

In addition, add the installation path to your CMAKE_PREFIX_PATH environment variable to properly build the package.

export CMAKE_PREFIX_PATH=<path/to/open3d/install>/Open3D:$CMAKE_PREFIX_PATH  
# By default the path should be /usr/local/lib/cmake

You can add the install path to your .bashrc file if desired.

Error mentioning "usr/lib/llvm-11/lib/libc++.so"

If the above error occurs, rebuild OPEN3D from source.

ROS 2 Humble

This package depends on ROS 2 Humble or greater to build.

Specifically, the rosidl_get_typesupport_target function is not introduced until Humble.

Pull down the dependent repos using vcstools:

vcs import < dependencies.repos

Install rosdep dependencies:

cd <forgescan_ws_dir>  # ROS workspace directory where this package is located
sudo rosdep init  # if first time using rosdep
rosdep update
rosdep install --from-paths src -y --ignore-src

Support for Foxy is possible following solution here. Foxy is not recommended because it is EOL. If you choose to use Foxy, include the --include-eol-distros argument when using rosdep install.

Realsense ROS

Given that this is a realsense wrapper for an existing package, it is dependent on realsense-ros. Note that the version of realsense-ros is tied to the ROS distro. Therefore, if you are using a distro other than Humble, you should git clone the matching branch.

Motoman Packages

The RViz visualization depends on motoman support packages, please configure the scene.urdf.xacro with a desired robot.

The current setup works with the motorman_ms210_support package found in Eric Marcil's repo.

Please note that this requires motoman_resources which is found internally in aims-robots-all

Pull both of these files down into the main directory alongside the other ROS packages in order to run.

Both can be cloned from aims-robots-all

OpenCV2

OpenCV2 needs to be built from source according to the following instructions

Further Development and Use with Robot

For development and use with a robot, within the 'scan_methods.cpp' file, add the controls to move the robot to the 'camera_pose' position here

  camera_pose.orientation.w = quat.w();

  pose_request->pose = camera_pose;
  pose_request->picture_number = picture_num;

  //Add movement to move robot to position

  auto result_future = image_client->async_send_request(pose_request);

Examples

For basic example of functions, please see the ForgeScan/src/Examples to use ForgeScan

The scene file will set up the scene of ForgeScan, putting a part into a virtual environment in order to be scaned by a virtual camera The Reconstruction file will run a full reconstruction with 10 images. Both can be run after building ForgeScan, but only the hpp files (not the cpp/executables) are used for the ROS wrapper

The ROS Wrapper can be ran with the command

ros2 launch forgescan_realsense forgescan_realsense.launch.xml

This will launch all nodes required to run the reconstruction service, alongside a visualization tool for an MS210, the robot will not move in RVIZ as this software has yet to be tested on hardware, but will in the future.

The main ros service to call is '/forgescan_realsense/reconstruction' within cpp or python code. The service requires an empty service message to run. To call directly from the command line, please use

ros2 service call /forgescan_realsense/reconstruction std_srvs/srv/Empty