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

Build Setup

1. Install the prerequisite packages:

   • taskflow (from the ROS-I PPA)

     sudo add-apt-repository ppa:ros-industrial/ppa
     sudo apt-get update
     sudo apt-get install taskflow

2. Install the ROS2 dependencies

   cd <snpd_workspace>
   vcs import < src/scan_n_plan_workshop/dependencies_tesseract.repos
   vcs import < src/scan_n_plan_workshop/dependencies.repos
   rosdep install --from-paths src --ignore-src -r -y

3. Follow the ROS2 build setup instructions for the application-specific implementations

   • Alternatively, add COLCON_IGNORE files to the application-specific implementation packages and skip their builds

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF -DBUILD_RENDERING=OFF

Application-specific Implementations

• Automate 2022