<> <> == Overview == Involved in the aerospace industry, this project presents a library to perform inspection processes for detecting [[https://www.fodcontrol.com/what-is-fod/|FODs]] in large aeronautical parts or structures. The work is done by analysing pointclouds of the part/structure and its environment, and comparing it with an already known information such as its CAD model or previous scan. These pointclouds can be obtained from a large-range laser scanner. The project also includes a library to control one Leica Scanstation C5 large-range laser scanner. == Getting started == * [[http://wiki.ros.org/leica_scanstation|leica_scanstation]]. This package is a ROS wrapper for controlling the Leica Scanstation C5 directly from a computer. * [[http://wiki.ros.org/leica_point_cloud_processing|leica_point_cloud_processing]]. This package has been developed to help identifying FODs in aeronautical structures. * [[http://wiki.ros.org/leica_gazebo_simulation|leica_gazebo_simulation]]. This package is a simulator of the Leica Scanstation C5, which allows the user to acquire a point cloud of the scene targeted by the device in the simulator. == Demonstration videos == In this video we show a use case of the libraries developed with real aeronautical parts. Due to confidentiality issues, the pointclouds and the cads associated to such test are not provided. <> Watch this video to see the simulated model of the ScanStation C5 created for Gazebo and the virtual industrial environment used to perform tests. <> == Acknowledgement == <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage ## CategoryPackageROSPKG