Godel

Application for demonstrating surface blending with ROS.

Godel: Austrian logician and mathematician http://en.wikipedia.org/wiki/Kurt_G%C3%B6del

Installation

• Install wstool in order manage the repos inside the workspace

  sudo apt install python-wstool
  

• Cd into the 'src' directory of your catkin workspace and run the following:

  wstool init . 
  wstool merge https://github.com/ros-industrial-consortium/godel/raw/kinetic-devel/godel.rosinstall
  wstool update
  rosdep install --from-paths . --ignore-src
  

• Finally, to build:

  catkin build
  

Applications

• Run blending demo in full simulation mode (simulated robot and sensor)

  roslaunch godel_irb2400_support irb2400_blending.launch
  

  Run the simulation with real point cloud data:

  roslaunch godel_irb2400_support irb2400_blending.launch real_pcd:=true pcd_location:=/path/to/file.pcd
  

  Download pcd files and unzip in your HOME directory: https://s3-us-west-2.amazonaws.com/godelscanfiles/godel_point_cloud_data.zip

• Run blending demo in robot simulation mode (simulated robot and real sensor data)

  roslaunch godel_irb2400_support irb2400_blending.launch sim_sensor:=false
  

• Run blending demo in sensor simulation mode (real robot and simulated sensor)

  roslaunch godel_irb2400_support irb2400_blending.launch sim_robot:=false robot_ip:=[robot ip]
  

• Run blending demo in full real mode

  roslaunch godel_irb2400_support irb2400_blending.launch sim_sensor:=false 
  sim_robot:=false robot_ip:=[robot ip]
  

Qt Glyph Loading Segfault (Kinetic)

• Rviz on Kinetic is prone to a segmentation fault caused by internal functions in the Qt library. Our current work-around is to set the following environment variable:

  export QT_NO_FT_CACHE=1
  

Planning and Meshing Plugins

• The meshing_plugins_base and path_planning_plugins_base packages define the interfaces that Godel uses to both perform surface reconstruction and tool path generation based on those reconstructions.

• The current default mesher works well for point clouds regions that can be accurately modeled by a convex polygon. The default blending tool planner only works well for planar meshes.

• We are working on an experimental library for more arbitrary surface reconstruction and tool path planning in the noether package.

  • To use, first install the dependencies of noether, which include VTK 7.1 and PCL 1.8.
  • Clone the noether package into your workspace.
  • Clone the godel_noether package in your workspace.
  • In your godel robot support package, e.g. godel_irb2400_support, modify the config/plugins.yaml file to read:

    meshing_plugin_name: "godel_noether::NoetherMesher"
    blend_tool_planning_plugin_name: "godel_noether::NoetherPathPlanner"
  

Keyence Laser Scanner

• To run the keyence laser scanner driver (replace KEYENCE_CONTROLLER_IP with the ip-address of your sensor):

  rosrun keyence_experimental keyence_driver_node _controller_ip:=KEYENCE_CONTROLLER_IP _frame_id:=keyence_sensor_optical_frame
  

  • If you have issues connecting, ensure that the IP address matches that of the controller and ensure that your computer is on the same subnet.

• To acquire laser scans and score them, run the following (replace VOXEL_SIZE_IN_METERS with your desired voxel size):

  roslaunch godel_scan_analysis scan_analysis.launch world_frame:=world_frame scan_frame:=keyence_sensor_optical_frame voxel_leaf_size:=VOXEL_SIZE_IN_METERS