This pacakge provides the tool for creating preview animation of sharpening wings!

Description

to use it with your wing you must have the wing_sheet.csv with all the needed information
(rename or modify your sheet if it`s needed)

requirements

• ROS (Robot Operating System) noetic
• wstool

Installation

1. Clone the repository into your catkin home directory:

   cd ~/
   git clone https://github.com/antwoor/sharpening_wing.git
   cd moveit_ws
   

2. Install package dependencies using rosdep:

   cd ~/moveit_ws
   rosdep install --from-paths src --ignore-src -r -y

3. Compile the package:

   catkin init
   catkin build

Usage

1. source python scripts for different trajectories

   cd ~/moveit_ws/src/moveit_solid_robot/src
   python3 tokenizer.py
   python3 rotator.py
   python3 unirotator.py

2. change links in .cpp files of moveit_solid_robot/src to yours example from

   std::ifstream infile("/home/antwoor/moveit_ws/src/moveit_solid_robot/src/merged_df.txt");
   

   to

   std::ifstream infile("/home/$(USER_NAME)/moveit_ws/src/moveit_solid_robot/src/merged_df.txt");
   

3. source setup.$(YOUR_SHELL_NAME):

   source ~/moveit/devel/setup.bash

4. Launch package with any granted .launch file:

   roslaunch moveit_solid_robot demo_cutter_launch

5. open new terminal and run trajectory command

   rosrun moveit_solid_robot trajectory_4

Author

antwoor