Installation Info about polygon_coverage_planning HOT 8 CLOSED

Q1. Can the installation be made within another workspace without adaptations

Yes, you can build the package in a different workspace. I have a separate workspace for example containing only polygon_coverage_planning, cgal_catkin and catkin_simple.

Q2. Where and how i should download the dependencies for dependencies.rosinstall

You can either use ws_tool or you clone them manually.

cd ~
mkdir coverage_ws
cd coverage_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --extend /opt/ros/melodic
mkdir src
cd src
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/cgal_catkin.git
git clone https://github.com/ethz-asl/polygon_coverage_planning.git
cd cgal_catkin
git checkout releases/CGAL-5.0.3
cd ../polygon_coverage_planning
git checkout v2.0.4

Make sure to install the non-catkin dependencies. Then you should be able to do catkin build.

Good luck with your project!

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Hi Francois

I think that is because you are using the SSH link, i.e.,

wstool set --git polygon_coverage_planning [email protected]:ethz-asl/polygon_coverage_planning.git

but you do not have a git ssh key setup. You can either setup the SSH key or use the https link instead:

wstool set --git polygon_coverage_planning https://github.com/ethz-asl/polygon_coverage_planning.git

Remember, if you use the https key you also need to use the dependencies_https.rosinstall.

wstool merge polygon_coverage_planning/install/dependencies_https.rosinstall

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Sorry, I cannot quite read your question due to the formatting. But from skimming I suppose you are referring to the RVIZ clicked point tool select a start and stop point of the coverage planner. The clicked point only reacts to objects in the scene, e.g., the lines and corners of the grid background or the RVIZ satellite background tile. As a quick work around you may decrease the cell size and increase the cell count of the grid

Alternatively, you can also set the start and goal point from a ROS service

rosservice call /coverage_planner/plan_path "start_pose:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: ''
  pose:
    position:
      x: 0.0
      y: 0.0
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
goal_pose:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs: 0
    frame_id: ''
      w: 0.0" n:

If the problem persists or I misinterpreted your issue please open a new issue with the formatted description of the problem.

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Question 1
Is there an existing* setting of parameters to force the
direction of the sweeping*. ( in the exemple below it could be interesting
only horizontal paths )

This is not implemented at the moment. But I think it's a useful feature. Opened a new issue #63

     Question 2

     I would like to verify my understanding. For a lawn mower with a

0.5 m diameter blade. I would use this setting
sensor_model_type: 0 # [0: Line, 1: Frustum]
lateral_overlap: 0.1
lateral_footprint: 0.5 # Only for line sensor model.

If you have 0.5m diameter blade your setting like this should be correct. No need to calculate z in this case.

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