This repository contatins all the information about how to get the code detailed in “Coverage Path Planning for Complex Structures Inspection Using Unmanned Aerial Vehicle (UAV)” up and running
The Installation page of the wiki is a (hopefully) comprehensive guide on how to get the code for “Coverage Path Planning for Complex Structures Inspection Using Unmanned Aerial Vehicle (UAV)” up and running on Ubuntu 18.04.
There are two pieces of code I wrote that might be of use. The first is a ROS package called sspp_simulator, and the second is a python script called change.py
sspp_simulator takes the waypoints generated from the sspp_planner service and reformats them and publishes them to the RotorS simulator. After installing and building with catkin build you can run it with roslaunch sspp_simulator main.launch . It's worth looking over the launch file (sspp_simulator/launch/main.launch) to play with some of the parameters such as start_x, start_y, and so forth.
change.py is a script that transforms .stl files to .pcd files for use with the algorithm. It requires open3d, which can be installed with
pip3 install open3d
To transform a file called airplane.stl to airplane.pcd you would do the following
python3 change.py airplane.stl
Be aware you may have to adjust the scale_factor variable in the code to ensure the model is appropriately sized for the path planning.