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ros-industrial-consortium / godel

ROS-Industrial Focused Technical Project: Robotic Blending
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questions on how to generate "godel" trejectory #236

Open ghost opened 7 years ago

ghost commented 7 years ago

Hey all,

I'm not sure if this is the right place to ask this question. I wonder if you could provide some sample code or tutorial on how to generate similar trajectory like this

image

I checked your code but it is not that user friendly, I guess it's my problem. But I guess a good document would help me and others in the future too.

Really appreciate any help. Thank you.

Jmeyer1292 commented 7 years ago

user friendly

Yeah...

We used an external library to do this: https://github.com/aewallin/openvoronoi. I don't know too many of the details, but could point you to the right code if you need it.

ghost commented 7 years ago

@Jmeyer1292 I'm actually a graduate student in mechanical engineering. I knew openvoronoi and I just don't know how to use this library :).

Could you provide some suggestions on how to get a surface from PCL and then generate this kind of trajectory? Or is there any library similar to openvoronoi that is not too difficult to understand?