This script is used for Robotic Weling path planning demo on various workpiece. It has 4 functions:
- convert point cloud from ROS To Open3d
- find the corresponding groove
- compute the trajectroy
- mutilayer planning
The result looks this this:
The system is built and tesated on ROS kinetic. Much of the point cloud processing used open3d 0.9.
Adopted from felixchenfy.
Part of the methods is adopted from our previous work on robotic welding. We used a different geometry featrue (asymmetry) this time and optimised the processing. The seam can be detected on a real-time basis.
After getting the groove, we find the centerline of the region and then ordered it.
The detail can be found at 3D-Point-Cloud-Curve-Extraction.
For detail, please check Mutilayer weld path planning.
P. Zhou, R. Peng, M. Xu, V. Wu and D. Navarro-Alarcon. Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding, IEEE Robotics and Automation Letters (RA-L) (under review), 2020. [pdf]
Video: Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding