jencureboy/bezier

ROS-Industrial Special Project: 6D tool path planner

Bezier

Overview

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.

Click the image to see a video of a Fanuc robot grinding thanks to the Bezier library.

Dependencies

This package has been tested with Ubuntu 18.04 and ROS Melodic.

VTK

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 -j4

Install with:

sudo make -j4 install
sudo ldconfig

rosdep

Install, initialize and update rosdep.

Compiling

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 ..

Resolve ROS dependencies

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

Compile

Use catkin_make or catkin tools:

catkin_make
catkin build

Documentation

API documentation

Install rosdoc_lite:

sudo apt install ros-$ROS_DISTRO-rosdoc-lite

Generate the API documentation:

catkin_make bezier_doc

Documented classes of Bezier

• bezier_grinding_surfacing

Example packages using bezier

• bezier_examples
• fanuc_grinding