ROS-Industrial Special Project: 5D tool path planner

Pierre Étienne Bézier September 1, 1910 – November 25, 1999; was a French engineer and one of the founders of the fields of solid, geometric and physical modeling as well as in the field of representing curves, especially in CAD/CAM systems. As an engineer at Renault, he became a leader in the transformation of design and manufacturing, through mathematics and computing tools, into computer-aided design and three-dimensional modeling. Bézier patented and popularized, but did not invent the Bézier curves and Bézier surfaces that are now used in most computer-aided design and computer graphics systems.

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 trajectory) in harmony with a grinding process. It is able to create rectilinear trajectories on complicated surfaces (3D surfaces) and to dilate them in all directions in order to grind defects with a pass principle.

• ROS indigo version (with the Fanuc package)
• VTK 6.3 or later, you need (this patch)
• The Point Cloud Library version 1.8 or trunk

Bezier has been tested with ROS Indigo under Ubuntu 14.04.

Please read bezier_library/doc/README.md.

• bezier: meta-package
• bezier_library: library containing several functions for robotic grinding
• bezier_application: example usage of the bezier_library

Build

Clone this repository into your catkin source folder and build the workspace:

cd $(catkin_workspace)/src
git clone https://github.com/ros-industrial-consortium/bezier.git

Launch

roslaunch bezier_application bezier_application.launch filename:=oriented_complicated_mesh.ply

In this example, bezier_application will be launched with oriented_complicated_mesh.ply as input mesh and oriented_complicated_mesh_default.ply as default mesh.

Others examples of meshes are available in:

$(catkin_workspace)/src/bezier/bezier_application/mesh