Framework for developing and operating simple Scan 'N Plan applications in which a robot:
Qt
widget, behavior tree plugins, and behavior tree configuration filestesseract
for generating freespace and process motions; contains custom tesseract
inverse kinematics plugins, planning task plugins, and planner profilesindustrial_reconstruction
Install the source dependencies after cloning this repository into a colcon
workspace
cd <snp_workspace>
vcs import --shallow --debug src < src/scan_n_plan_workshop/dependencies_tesseract.repos
vcs import --shallow --debug src < src/scan_n_plan_workshop/dependencies.repos
# Source the ROS distro before running rosdep
source /opt/ros/<distro>/setup.bash
rosdep install --from-paths src --ignore-src -r -y
Note: some
rosdep
dependencies specified bytesseract
may be not resolved, but it is generally okay to ignore these if building with the command specified below.
Build the repository with the following command (including a few CMake arguments to ignore modules of tesseract
that are not needed)
colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF -DBUILD_RENDERING=OFF
This repository provides a framework for operating a Scan 'N Plan application. Several complete Scan 'N Plan applications based on this repository can be found in the following repositories: