This repo contains all the functions, libraries which were used in this projects. There are some main functions such as: (1) Point Cloud Boundary (2) Area check (3) Pose Estimation (4) Plane's Height check (5) Path Availability in Mobile Transformation
To get a stable point cloud data, the data is captured several times, then combine the pointclouds into one. THe processing on the aggregated one is more stable than a single one.
The program works on ROS-Service approach. All functions are in the hybrid_robot.cpp, pcl_server.cpp, mp_server.cpp files, which operates as a server. To trigger services, the program hybrid_robot.cpp, pcl_server.cpp, mp_server.cpp are invoked.
Full implementation video on youtube of Hybrid Steel Bridge Inspection Robot - ARA Lab
H-D. Bui, S. T. Nguyen, U-H. Billah, C. Le, A. Tavakkoli, H. M. La. Control Framework for a Hybrid-steel Bridge Inspection Robot. In Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, USA, October 25 – 29, 2020. PDF