How to generate weld path with collision-free tool orientation?

[savolla]

Hi, I'm trying to build a 8 DOF gantry robot. I want to use Tesseract and Trajopt for path planning. I inspected and understood the code API by looking at tesseract_ros_workcell. But in the application_positioner example I saw that the robot is using pre-generated tool path trajectory points which is stored in job_path.yaml. I'd like to learn where this yaml file is generated. In addition since I want to build a welding robot instead of a sanding robot, I want to generate toolpath frames in collision-free manner. I saw some ros industrial repos like godel and bezier but It seems like they all generate a surface (planar) toolpath frames. Any explanation would be very helpful thanks!

[Levi-Armstrong]

Currently tesseract does not support toolpath generation directly and expects the path to be provided. There are a few opensource option available for tool path generation.

• Generating toolpaths on surface and edges of surfaces you could use the noether package which was used to generate the toolpath in the job_path.yaml.
  • There is a plugin for RViz which leverages noether
• There is also bezier but as you pointed out I believe it only does surfaces.
• There is also tools like FreeCAD which have a CNC workbech for generating toolpath from cad models.
• You could also leverage OpenCascad tools to generated toolpaths from cad.

[savolla]

Thank you! Currently working with noether as you said.