This repository is part of the ROS-Industrial program.
This project has been developed by the Institut Maupertuis, a French research institute that is working on robotic industrial processes. This project goal is to create an automatic grinding path generator for 6-axis robots working on diverse/random meshes.
Bezier planner generates robot poses (3D trajectories) in harmony with a grinding process, it is as 6D tool path planner. It is able to create rectilinear trajectories on complex surfaces (3D surfaces) and to dilate them in all directions in order to grind defects with a pass principle.
This package has been tested with Ubuntu 18.04 and ROS Melodic.
VTK 7.1 or higher is required in order to compile this project.
Here are quick steps to download, compile and install VTK latest release:
sudo apt install -y cmake libglew-dev libxt-dev libqt5x11extras5-dev qttools5-dev
mkdir -p $HOME/libraries/VTK-8.2.0/build_release
cd $HOME/libraries/VTK-8.2.0
wget http://www.vtk.org/files/release/8.2/VTK-8.2.0.zip
unzip VTK-8.2.0.zip
mv VTK-8.2.0 src
cd build_release
cmake ../src \
-DCMAKE_BUILD_TYPE=Release \
-DVTK_Group_Imaging=ON \
-DVTK_Group_Qt=ON \
-DVTK_QT_VERSION=5 \
-DVTK_Group_Rendering=ON \
-DVTK_Group_Views=ON
make -j4Install with:
sudo make -j4 install
sudo ldconfigInstall, initialize and update rosdep.
Create a catkin workspace and clone the project:
mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone https://github.com/ros-industrial-consortium/bezier.git
cd ..
rosdep install --from-paths src --ignore-src --rosdistro melodic -yUse catkin_make or catkin tools:
catkin_make
catkin buildInstall rosdoc_lite:
sudo apt install ros-$ROS_DISTRO-rosdoc-lite
Generate the API documentation:
catkin_make bezier_doc