Noether

Tool path planning and surface segmenter

Build Status

Platform	CI Status
Linux (Ubuntu)
Lint (Clang-Format)

Supported OS/ROS Distributions

• Noetic (Ubuntu 20.04)

Build

# if you already have a workspace, skip this step
mkdir -p ~/catkin_ws/src

# if you already cloned noether, skip this step
cd ~/catkin_ws/src && git clone https://github.com/ros-industrial/noether.git

# navigate to the root of your workspace
cd ~/catkin_ws

# pull down the dependencies
vcstool import src < src/noether/dependencies.rosinstall

# build the Noether packages
# note: if you want to build the entire workspace, just run 'catkin build' instead
catkin build noether

Run Unit Tests

• Run the unit tests for a package:

  catkin run_tests tool_path_planner --no-deps
  

• Run all unit test in the noether repository

  catkin run_tests noether --no-deps
  

  NOTE: Press 'q' to close the vtk window and proceed with the test program.

Run Applications and Demos

Surface Raster Planner

The noether package has a surface raster planner executable which is able to take in a mesh file (.stl format), and generate raster paths on it, you can run it through the launch file with preconfigured parameters as follows:

roslaunch noether_examples plane_slicer_rastering_generator_demo.launch

or with your own mesh file

roslaunch noether_examples plane_slicer_rastering_generator_demo.launch mesh_file:=</absolute/path/to/my/mesh.stl>

Mesh Filtering Demo

The mesh filtering demo applies a bspline smoothing algorithm to a noisy mesh, run the following to see it in action:

roslaunch noether_examples mesh_filtering_demo.launch

• Filter your own ply mesh file

roslaunch noether_examples mesh_filtering_demo.launch mesh_file:=/path/to/my/mesh.ply

See here for more on the filter types available,
Custom mesh filter plugins can be added by inheriting from the noether_filtering::mesh::MeshBaseFilter class.

Generate Edge Paths Demo

Runs an algorithm that identifies all the half edges that constiture the boundary

• On a dummy ply mesh file

roslaunch noether_examples halfedge_finder_demo.launch

• On your own ply mesh file

roslaunch noether_examples halfedge_finder_demo.launch mesh_file:=</absolute/path/to/my/mesh.stl>