3D-plantModeling-with-2DLiDAR

A simulation tool for plant reconstructions based on a 2d laser sensor and a rotation disk.

plantModeling

Software requirements

• Ubuntu 18.04
• ROS Melodic
• Gazebo 9
• Python libraries:
  • sudo apt-get install python-pip
  • pip install numpy
  • pip install pandas

How to install?

Clone the repository:

git clone https://github.com/HaroldMurcia/3D-plantModeling-with-2DLiDAR.git

Acces the folder:

cd 3D-plantModeling-with-2DLiDAR

Compile with catkin:

catkin_make

Move "system" to Gazebo models:

cp -r meshes /home/<YOUR_USER_NAME>/.gazebo/models

How to run?

Acces the folder:

cd 3D-plantModeling-with-2DLiDAR

Add setup file:

source devel/setup.sh

Run rosmaster:

roscore

In a new terminal:

roslaunch plataforma plataforma.launcher

• Select a gazebo object
• Click on run

cd 3D-plantModeling-with-2DLiDAR/src
python Scaner3D_simulation.py <filename> <Max_Degree> <Delta_degree>

License

If you use our system in an academic work, please cite:

@article{murcia2020,
  title={Development of a Simulation Tool for 3D Plant Modeling based on 2D LiDAR Sensor},
  author={Murcia, Harold, Sanabria, David, Méndez, Dehyro and Forero, Manuel.},
  conference={Virtual Symposium in Plant Omics Sciences},
  year={2020}
 }