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, the project is fanuc_grinding.

Dependencies

This package has been tested with Ubuntu 16.04 and ROS Kinetic.

VTK 7.1

VTK 7.1 or higher is required in order to compile this project.

Here are quick steps to download, compile and install VTK 7.1:

mkdir -p $HOME/libraries/VTK-7.1/build_release
cd $HOME/libraries/VTK-7.1/
wget http://www.vtk.org/files/release/7.1/VTK-7.1.1.zip
unzip VTK-7.1.1.zip
mv VTK-7.1.1 src
cd build_release
cmake ../src -DCMAKE_BUILD_TYPE=Release
make -j4

Install with:

sudo make -j4 install
sudo ldconfig

wstool

Install wstool.

rosdep

Install, initialize and update rosdep.

Compiling

Create a catkin workspace and clone the project:

mkdir -p catkin_workspace
cd catkin_workspace
git clone https://github.com/ros-industrial-consortium/bezier.git
wstool init src bezier/bezier.rosinstall
mv bezier src

Resolve ROS dependencies

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

Compile

Use catkin_make or catkin tools:

catkin_make
catkin build

Launch

Source the catkin workspace in which you compiled the package, then launch:

roslaunch bezier_application fanuc_m20ia_surfacing.launch surfacing_mode:=true mesh_cad:=plane/plane_defect.ply

Use the following command for the painting application:

roslaunch bezier_application fanuc_m20ia_painting.launch mesh_cad:=ocean/ocean.ply

In this example, bezier_application will be launched with plane_defect.ply as the CAD mesh and the grinding will be done in surface mode, meaning that we only pass on the surface of the mesh to smooth it.

roslaunch bezier_application fanuc_m20ia_surfacing.launch mesh_cad:=plane/plane.ply mesh_defect:=plane/plane_defect.ply

In this example, bezier_application will be launched with plane.ply as the CAD mesh and plane_defect.ply as defect mesh.

Others examples of meshes are available in:

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

Documentation

Please read bezier_library/doc/README.md.

How to contribute

• Report issues
• Write documentation
• Open merge request to fix bugs, improve/add functionalities