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