ipab-rad / contour_tracer

Parses a pointcloud selection, solves TSP through points and executes

Contour tracing

This node listens for a pointcloud selection (eg. published using the selected points publisher plugin in rviz), subsamples these points and then solves a travelling salesman problem to produce a path moving through these. This path can be used by the contour_following node for contour following.

Parameters

• sample_density - resample the points on the selected surface at this density.
• sat_solver_scale - scaling parameter for the ortools sat solver.
• sat_solver_timeout - maximum time for ortools travelling salesman problem to run for.
• min_points - minimum number of points required in selection.

Topics

• /rviz_selected_points - sensor_msgs/PointCloud2 input message (typically from selected patch publisher)
• /contour_path - nav_msgs/Path message published by node