Code

Edge Processing#123

Code

Merged

Jmeyer1292 merged 7 commits intoros-industrial-attic:kinetic-develros-industrial-attic/godel:kinetic-develfrom woodaaron:base_kineticwoodaaron/godel:base_kineticCopy head branch name to clipboardJan 10, 2017

+955-168

Commits

Commits on Jan 9, 2017

• Added surface segmentation code from CLewis and moved previous implementation to find_surfaces_old.

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  Aaron Wood

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• Made ensenso publisher a required node when not in simulation

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  Aaron Wood

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• Added publisher for edge poses

  

  Aaron Wood

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• Added collision checks for blend model

  

  Aaron Wood

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• Added publisher for blend path PoseArray, and set pose orientation for blending and edge paths to the surface normal (Assumes part is planar)

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  Aaron Wood

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• Made collision checks applicable to the whole path planning process, and removed previous CollisionGuard checks

  

  Aaron Wood

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• Streamlined segmentation by eliminating an extra cloud copy and NAN check.

  

  Aaron Wood

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