LiDAR Raytracing

Simulation of LiDAR rays using ROS, RVIZ

Note

The project was created on a Linux Ubuntu 20.04 system installed with ROS Noetic

Implementation Steps:

1. Clone the github repository "Raytracing_Challenge".

git clone https://github.com/math-1307/Raytracing_Challenge

2. Makes sure you are inn the cloned repository and execute the following commands

cd catkin_ws
catkin_make
source devel/setup.bash
roslaunch raytracer_pkg raytracer.launch

An RVIZ window and a Dynamic Reconguration window pop up for visualization of the point cloud

3. Optionally the pointcloud can be stored in a .pcd file using the following command in a parallel terminal

source devel/setup.bash
rosrun pcl_ros pointcloud_to_pcd input:=/pcd_lidar

The implementation of the code can be seen in the Implementation Video