Planning Project 16782 - Fall '21

Motion Planning for Precise Scanning of Additively Manufactured Parts

Instructions to run the code:

1. Clone the repo into the \src folder of your catkin_ws

2. Add the waypoint1.txt file in the \src folder besides \scanningPRM folder

3. Go to the folder of your workspace where you can see \src folder and run:

  catkin build

4. Open 2 different terminal windows and source them

  source devel/setup.bash

5. In 1st terminal run:

  roslaunch scan_pro_moveit_config demo_gazebo.launch

6. In the second terminal run: (build a roadmap)

  rosrun planning_prm planning_prm_node _param=buildprm _file=waypt1.txt

7. In the second terminal run: (run A* search on an existing roadmap)

  rosrun planning_prm planning_prm_node _param=loadprm _file=waypt1.txt