Demo Scenarios

Three demo scenarios are provided in order to familiarize with the algorithm.

#Hoa Hakanaia A downsampled mesh (using ACVD) of the hoa hakanaia statue is used to plan an inspection path for the original object. To run the first demo, make sure you set up rviz correctly and type the following two commands in your shell:

roslaunch koptplanner hoaHakanaia.launch

rosrun request hoaHakanaia

After some seconds of execution, rviz should look similar to this:

#Big Ben The second demo scenario is the Big Ben tower. Also for this object a downsampled mesh (using ACVD) is used for planning. To run the demo, execute

roslaunch koptplanner bigBen.launch

rosrun request bigBen

in your shell. The planning result should be similar to this:

The video below presents the rviz visualization of the solution of the algorithm to this problem executed in an Intel i7 2.8GHz processor:

#Solar Power Plant Inspection The goal in the third scenario is, to inspect the mirror surfaces in a solar power plant that are used to concentrate the sun light. This can be very useful to find mirrors that need cleaning in order to keep up a good reflection efficiency. You can run the scenario by typing:

roslaunch koptplanner solarPlant.launch

rosrun request solarPlant

and the result should look like this: