Indoor 3D Scanning based on two 2D LiDAR sensor and SLAM

Requirments

• rplidar a series
• Hector SLAM package
• rplidar ROS package

Tested on Ubuntu 20.04LTS, ROS noetic, rplidar a3(a2)

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Node, Topic diagram

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Result

• captured point cloud(full pcd file at floot_half.pcd)

demo_capture_resized.mp4

(full capture video available at demo_capture.mp4)

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