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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