Overview

This repository is part of the ROS-Industrial program.

ROS Additive Manufacturing (RAM) provides a set of tools (mostly algorithms and GUIs) to help end users create complex trajectories for additive manufacturing. The project is especially focused on printing metallic parts with industrial robots. This project contains multiple tools: path planning algorithm able to generate complex trajectories, visualisation tools, editing tools, etc.

:information_source: As of today this project aims at generating a robot program specific to the robot brand you use, and then upload/run the program on the robot. It's not designed to directly control your robot, though it would be possible quite easily.

Documentation (french)

https://institutmaupertuis.gitlab.io/ros_additive_manufacturing/

Media

https://www.youtube.com/watch?v=6U0zRbDbjQs

Dependencies

Robot Operating System

Install ROS Melodic

Sphinx and Latex

sudo apt update
sudo apt install -y python-pip latexmk texlive-base texlive-latex-recommended texlive-fonts-recommended texlive-latex-extra
sudo pip install --no-cache-dir sphinx==1.7.4 sphinx_rtd_theme

Visualisation ToolKit

You need VTK 8.0.0 or higher in order to compile this project.

Here are quick steps to download, compile and install VTK latest release:

sudo apt install -y libglew-dev libxt-dev libqt5x11extras5
mkdir -p $HOME/libraries/VTK-8.1/build_release
cd $HOME/libraries/VTK-8.1/
wget http://www.vtk.org/files/release/8.1/VTK-8.1.0.zip
unzip VTK-8.1.0.zip
mv VTK-8.1.0 src
cd build_release
cmake ../src -DCMAKE_BUILD_TYPE=Release
make -j4

Install with:

sudo make -j4 install
sudo ldconfig

wstool

Install wstool.

rosdep

Install, initialize and update rosdep.

Clone

mkdir -p catkin_workspace/src
cd catkin_workspace/src
git clone https://gitlab.com/InstitutMaupertuis/ros_additive_manufacturing.git
cd ..
wstool init src src/ros_additive_manufacturing/ros_additive_manufacturing.rosinstall

Resolve ROS dependencies

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Compile and install

catkin_make install

Launching

Source the catkin workspace and run:

roslaunch ram_qt_guis gui.launch

Launching installed workspace

If you have installed the workspace then you can launch the application with your desktop application menu:

Running the tests locally

The tests can be run locally with a GUI; for each package that allows that the commands are detailed in a README file; for example in ram_path_planning/README.md

Please check inside the repository if there is a README file in the package you are interested in testing!