Scan 'N Plan Workshop

Framework for developing and operating simple Scan 'N Plan applications in which a robot:

• Executes a scan path with a depth camera
• Reconstructs the surface of the objects observed by the camera
• Plans a tool path on the reconstructed surface
• Plans robot motions to execute the tool path
• Executes the process path

Core Packages

• snp_application - Contains a GUI application Qt widget, behavior tree plugins, and behavior tree configuration files
• snp_motion_execution - Contains files to simulate robotic motion
• snp_motion_planning - Contains a planning server based on tesseract for generating freespace and process motions; contains custom tesseract inverse kinematics plugins, planning task plugins, and planner profiles
• snp_msgs - Contains ROS message and service definitions generating tool paths and motion plans, and executing robot trajectories
• snp_scanning - Contains files to convert a YAML file into a robot scan path and to simulate industrial_reconstruction
• snp_tpp - Contains custom tool path planning GUI widgets and source code for the region of interest selection mesh modifier and SNP-specific raster tool path planner

Build Setup

1. 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 by tesseract may be not resolved, but it is generally okay to ignore these if building with the command specified below.

Build

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

Application-specific Implementations

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:

• Automate 2022
• Automate 2023
• Robotic Blending Milestone 5