Scan 'N Plan Workshop

Framework for developing and operating simple Scan 'N Plan applications in which a robot:

• Executes a scan path with a depth camera
• Reconstructs the surface of the objects observed by the camera
• Plans a tool path on the reconstructed surface
• Plans robot motions to execute the tool path
• Executes the process path

Tool path planning

See also snp_tpp/README.md

As seen in the diagram, uses the GenerateToolPaths.srv service to wrap noether. Served by the snp_app in snp_tpp/src/tpp_widget.cpp, which uses noether::ToolPathPlannerPipeline with the params defined in the gui. The pipeline feature of noether is not very well documented, only in noether/noether_tpp/README.md.

Generate Motion Planning

As seen in the diagram, uses the GenerateMotionPlan.srv service to wrap tesseract. Served by snp_motion_planner in snp_motion_planning/src/planning_server.cpp. This in turn calls a tesseract_planning::ProcessPlanningServer with a tesseract_planning::CompositeInstruction that basically iterates through all rasters with cartesian linear moves and goes between them with joint moves. Under the hood, tesseract uses trajopt and descartes to optimize this trajectory.

Build Setup

1. Install the prerequisite packages:

   • taskflow (from the ROS-I PPA)

     sudo add-apt-repository ppa:ros-industrial/ppa
     sudo apt-get update
     sudo apt-get install taskflow

2. Install the ROS2 dependencies

   cd <snpd_workspace>
   vcs import < src/scan_n_plan_workshop/dependencies_tesseract.repos
   vcs import < src/scan_n_plan_workshop/dependencies.repos
   rosdep install --from-paths src --ignore-src -r -y

3. Follow the ROS2 build setup instructions for the application-specific implementations

   • Alternatively, add COLCON_IGNORE files to the application-specific implementation packages and skip their builds

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

Application-specific Implementations

• Automate 2022