Robot operating system zur Steuerung eines modularen mobile-mapping-systems – Aufbau, Validierung und Anwendungen

The surveying of complex and large-scale objects is carried out efficiently, effectively and safely with Mobile Mapping Systems (MMS). MMS are usually developed for special surveying applications and can only be modified with high effort. A modular MMS, on the other hand, can be adapted to changing surveying applications with little effort and can also be used to investigate different sensors and new algorithms. Many sensors of a MMS are also installed in robots and serve them for environmental registration. The Robot Operating System (ROS) is an open-source environment for controlling robots. It is designed with a modular structure, so different sensors and algorithms can be efficiently combined. The ROS environment allows to developed sensor drivers, implementations and evaluation algorithms as individual tasks (packages). In-house developed or provided by other developers, these packages can be effectively implemented into the individual ROS environment. All Packages provide a uniform data interface to exchange and process information. The concept and implementation for the modular HCU_ROS MMS is described and discussed in this paper. The results of three investigations of the HCU_ROS MMS concept are presented.