📋 Frequently Asked Questions

This page covers the most frequently asked questions that arise when using the SMB simulation and working on the real robot.

For recent and past queries, please refer to the GitHub Issues of this repository.

📂 How can I transfer a file to a USB3 drive (Ubuntu)?

From How to access a usb flash drive from the terminal? - askubuntu

Most likely, the device name of the USB stick is sda1, but it could be different. To find the name of the USB drive, execute:

lsblk

Create the folder where the USB will be mounted (essentially a folder linked to the USB). Create the following folder if it does not already exist:

sudo mkdir /media/usb

Mount the USB drive using the following command:

sudo mount /dev/sda1 /media/usb

Remember to unmount the USB stick before disconnecting it; otherwise, you may corrupt it!

sudo umount /media/usb

modified from Interactive Segmentation Tool - CloudCompareWiki

You can find the suitable version here for your OS.

Load the built pointcloud (.pcd format) in CloudCompare via the File -> Open menu or dragging the pointcloud.
Select a suitable viewpoint and launch the tool via the icon in the main upper toolbar or the Edit > Segment menu.
Use left click to add a contour to contain a region of interest (polygon or rectangle) and right click to close the region.
Once the polygon/rectangle edition is finished, choose whether to keep points inside () or outside () the polygon. The other points will disappear (as well as the polygon) after clicking the check sign.
Segment until the clean pointcloud is achieved and select the segmented one to save as .pcd format (Point Cloud Library cloud).

You could achieve better colorized visualization by using the Edit > Colors > Height Ramp menu.

Colorized visualization of segmented pointcloud

Export segmented pointcloud as .pcd format (Point Cloud Library cloud)