bezier_examples

This package contains example usage of the bezier project.

Compiling

wstool

Install wstool.

rosdep

Install, initialize and update rosdep.

Compiling

Create a catkin workspace and clone the project:

mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone https://github.com/ros-industrial-consortium/bezier_examples.git
cd ..
wstool init src src/bezier_examples/bezier_examples.rosinstall

Resolve ROS dependencies

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Fix fanuc package compilation

The fanuc package will not compile on melodic due to old IKFast MoveIt configuration packages, see issue https://github.com/ros-industrial/fanuc/issues/241. You can fix them (help provided in the issue) or delete them as we won't use them:

rm -rf src/fanuc/*_moveit_config src/fanuc/*_moveit_plugins

Compile

Use catkin to compile

catkin_make

Launch

Source the catkin workspace in which you compiled the package, then launch:

roslaunch bezier_examples fanuc_m10ia_surfacing.launch surfacing_mode:=true mesh_cad:=plane/plane_defect.ply

Use the following command for the painting application:

roslaunch bezier_examples fanuc_m10ia_painting.launch mesh_cad:=ocean/ocean.ply

In this example, bezier_examples will be launched with plane_defect.ply as the CAD mesh and the grinding will be done in surface mode, meaning that we only pass on the surface of the mesh to smooth it.

roslaunch bezier_examples fanuc_m10ia_surfacing.launch mesh_cad:=plane/plane.ply mesh_defect:=plane/plane_defect.ply

In this example, bezier_examples will be launched with plane.ply as the CAD mesh and plane_defect.ply as defect mesh.

Others examples of meshes are available in:

$(catkin_workspace)/src/bezier_examples/bezier_examples/meshes