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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 with DecompUtildecomp_test_node: contains two example codes for testingROS(Indigo+)catkin_simpleQT(4+)If the submodule DecompUtil is not initialized yet, run following commands at first:
$ cd /PATH/TO/DecompROS
$ git submodule update --init
$ mv decomp_ros ~/catkin_ws/src
$ cd ~/catkin_ws & catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
$ mv decomp_ros ~/catkin_ws/src
$ catkin config -DCMAKE_BUILD_TYPE=Release
$ cd ~/catkin_ws & catkin build
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
The following images show results from EllipsoidDecomp2D and SeedDecomp3D:
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