Tool path planning and surface segmenter
Platform | CI Status |
---|---|
Linux (Focal) | |
Linux (Bionic) | |
Linux (Xenial) | |
Lint (Clang-Format) |
- These packages run on Ubuntu 16.04 and ROS
- Uses the catkin tools build system
This package depends on PCL 1.9.1+ and VTK 7.1+. If you are using a Ubuntu system version 20.04+ (ROS Noetic/Foxy), you should already have these and can skip to the build instructions. Otherwise proceed with installing the custom PCL and VTK versions.
- checkinstall
sudo apt install checkinstall
- number of available threads / CPU cores
- This is useful for accelerating building of the required libraries, but is not required. If you know this number, great! If not, you can use one of these commands:
htop
- You can count the number of threads displayed at the top.lscpu
- Outputs a number of CPUs, or you can multiplyThread(s) per core:
*Core(s) per socket:
*Socket(s)
to get the available threads
-
Download VTK 7.1
-
Unzip or extract into a user accessible directory
-
CD
into that directory and create a newbuild
directory -
Run cmake
cd build cmake ..
-
Build the library
make
This will take a while ...
If you know the number of threads available, you can specify to use more of them. Leaving one or two open should allow you to continue using your computer. For example, if you have 8 threads available, you could do the following to speed up build time:
make --jobs=6
-
Install
sudo checkinstall --pkgname=vtk-7.1
The installation process will prompt you to accept/reject some options prior to building the debian, just follow the recommended prompts.
NOTE: Using
checkinstall
instead ofmake install
has the advantage that it builds a debian package which can be easily uninstalled withsudo dpkg -r [packagename]
.
-
Download PCL 1.9.1
-
Unzip or extract into a user accessible directory
-
cd
into that directory and locate theCMakeLists.txt
file. -
Locate the
find package(VTK)
line (close to line 362) and edit it tofind_package(VTK 7.1 REQUIRED)
-
Configure the build using the ccmake gui
mkdir build cd build ccmake ..
- Then locate the
BUILD_surface_on_nurbs
flag and set it toON
- Locate the
PCL_ENABLE_SSE
flag and set it toOFF
orFALSE
, this alters the alignment of class members when enabled, see here
- Then locate the
-
Build
make
Wait until the build finishes, it may take a couple of hours ...
If you know the number of threads available, you can specify to use more of them. Leaving one or two open should allow you to continue using your computer. For example, if you have 8 threads available, you could do the following to speed up build time:
make --jobs=6
-
Install
sudo checkinstall --pkgname=pcl-1.9.1
The installation process will prompt you to accept/reject some options prior to building the debian, just follow the recommended prompts
NOTE: Using
checkinstall
instead ofmake install
has the advantage that it builds a debian package which can be easily uninstalled withsudo dpkg -r [packagename]
.
# if you already have a workspace, skip this step
mkdir -p ~/catkin_ws/src
# if you already cloned noether, skip this step
cd ~/catkin_ws/src && git clone https://github.com/ros-industrial/noether.git
# navigate to the root of your workspace
cd ~/catkin_ws
# pull down the dependencies
vcstool import src < src/noether/dependencies_ros1.rosinstall
# build the Noether packages
# note: if you want to build the entire workspace, just run 'catkin build' instead
catkin build noether
-
Run the unit tests for a package:
catkin run_tests tool_path_planner --no-deps
-
Run all unit test in the noether repository
catkin run_tests noether --no-deps
NOTE: Press 'q' to close the vtk window and proceed with the test program.
The noether package has a surface raster planner executable which is able to take in a mesh file (.stl format), and generate raster paths on it, you can run it through the launch file with preconfigured parameters as follows:
roslaunch noether_examples surf_raster_planner_demo.launch
or with your own mesh file
roslaunch noether_examples surf_raster_planner_demo.launch filename:=</absolute/path/to/my/mesh.stl>
Also, the node can be called directly with custom parameters directly:
rosrun noether surface_raster_planner_application _pt_spacing:=0.05 _line_spacing:=0.15 _intersecting_plane_height:=0.05 _min_hole_size:=0.01 _min_segment_size:=0.01 _debug_on:=False _console_debug_on:=False _file_path:=</absolute/path/to/my/mesh.stl>
The debug_on
and console_debug_on
argurments enable visual and console debugging respectively. During visual debugging press 'q' on the vtk window in order to step through.
Work is in progress to read in point cloud (.pcd) files, but meshing results are not reliable right now.
The mesh filtering demo applies a bspline smoothing algorithm to a noisy mesh, run the following to see it in action:
roslaunch noether_examples mesh_filtering_demo.launch
- Filter your own ply mesh file
roslaunch noether_examples mesh_filtering_demo.launch mesh_file:=/path/to/my/mesh.ply
See here for more on the filter types available,
Custom mesh filter plugins can be added by inheriting from the noether_filtering::mesh::MeshBaseFilter
class.
Runs an algorithm that identifies all the half edges that constiture the boundary
- On a dummy ply mesh file
roslaunch noether_examples halfedge_finder_demo.launch
- On your own ply mesh file
roslaunch noether_examples halfedge_finder_demo.launch mesh_file:=</absolute/path/to/my/mesh.stl>