Awesome
MRSL Decomp Util ROS
A ROS wrapper for implementing DecompUtil
, stacks include:
DecompUtil
: convex decomposition of free space in a cluttered environmentdecomp_ros_msgs
: ROS msgs used for storing, visualizing and communicatingdecomp_ros_utils
: ROS utils for interfacing withDecompUtil
decomp_test_node
: contains two example codes for testing
Compilation
Prerequisite:
ROS
(Indigo+)catkin_simple
QT
(4+)
If the submodule DecompUtil
is not initialized yet, run following commands at first:
$ cd /PATH/TO/DecompROS
$ git submodule update --init
1) Using Catkin:
$ mv decomp_ros ~/catkin_ws/src
$ cd ~/catkin_ws & catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
2) Using Catkin Tools (Recommended):
$ mv decomp_ros ~/catkin_ws/src
$ catkin config -DCMAKE_BUILD_TYPE=Release
$ cd ~/catkin_ws & catkin build
Usage
Simple test using the built-in data can be applied through following commands:
$ roscd test_node/launch
$ roslaunch rviz.launch
$ roslaunch test_path_decomp.launch
Examples
The following images show results from EllipsoidDecomp2D
and SeedDecomp3D
:
<img src="./decomp_test_node/data/example1.png" height="256"> <img src="./decomp_test_node/data/example2.png" height="256">