search

ros-industrial / noether

Tool path planning and surface segmenter
113 stars 44 forks source link

Feature/add surface walk demo #142

Closed rr-tom-noble closed 6 months ago

rr-tom-noble commented 3 years ago

This PR adds a demo for the surface walk path planner, which can be run using roslaunch noether_examples surface_walk_rastering_generator_demo.launch.

Below is an image showing the output with the default parameters added to the launch file

surface_walk

Note: I'm a little new to noether, so unsure why the path does not cover the entire surface

marip8 commented 3 years ago

Thanks for the contribution. I'm inclined to hold off on accepting this PR at the moment. We are starting a refactor the interfaces and structure of the tool path planning package to improve the modularity and flexibility of the planners. A part of that refactor would be to revise this demo such that any of the current planners (surface coverage or edge) could be used in the same executable to generate a path on an input mesh rather than copying basically the same demo for the fourth time. This is still a good reference for how to use the surface walk planner, so we can keep this PR open until we finish the new demo and make sure it captures everything from this PR