Interface

The package is configured as a ROS service. To call the service use the class koptplanner::inspection defined in “koptplanner/include/koptplanner/inspection.h”. The object takes the following elements:

• Header

  • std_msgs/Header header

• Operation space: Center coordinates [x, y, z] and according size [xSize, ySize, zSize] as arrays (only cuboidical spaces)

  • float64[] spaceCenter
  • float64[] spaceSize

  

• Required poses: An array of poses specifies the start pose, any number of other required poses and optionally a final pose. A start pose is required and if more than one pose is specified, the last will be the final pose.

  • geometry_msgs/Pose[] requiredPoses

• Mesh: The Mesh is stored as an array of polygons, one for each triangle. The polygons contain three points, specifying the three corners of the triangle ordered in a positive sense around the normal.

  • geometry_msgs/Polygon[]

• Obstacles: are stored in multiple arrays. One for the pose, one for the shape (only coordinate system-aligned cuboids are supported) and one to specify whether the obstacle is transparent (1) or not (0).

  • geometry_msgs/Pose[] obstaclesPoses
  • shape_msgs/SolidPrimitive[] obstacles
  • int32[] obstacleIntransparancy

• Inspection parameters minimal and maximal inspection distance, as well as minimal incidence angle

  • float64 incidenceAngle
  • float64 minDist
  • float64 maxDist

  

• Number of planner iterations

  • int16 numIterations

The service returns the computed path:

• Inspection path and its cost
  • nav_msgs/Path inspectionPath
  • float64 cost
• Error code: Corresponding to the errors described in “koptplanner/include/koptplanner/plan.hpp”
  • int8 errorCode