sikang / decompros

A ROS wrapper for implementing convex decomposition

MRSL Decomp Util ROS

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A ROS wrapper for implementing DecompUtil, stacks include:

• DecompUtil: convex decomposition of free space in a cluttered environment
• decomp_ros_msgs: ROS msgs used for storing, visualizing and communicating
• decomp_ros_utils: ROS utils for interfacing with DecompUtil
• decomp_test_node: contains two example codes for testing

Compilation

Prerequisite:

• ROS(Indigo+)
• catkin_simple
• QT(4+)

If the submodule DecompUtil is not initialized yet, run following commands at first:

$ cd /PATH/TO/DecompROS
$ git submodule update --init

1) Using Catkin:

$ mv decomp_ros ~/catkin_ws/src
$ cd ~/catkin_ws & catkin_make_isolated -DCMAKE_BUILD_TYPE=Release

2) Using Catkin Tools (Recommended):

$ mv decomp_ros ~/catkin_ws/src
$ catkin config -DCMAKE_BUILD_TYPE=Release
$ cd ~/catkin_ws & catkin build

Usage

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

Examples

The following images show results from EllipsoidDecomp2D and SeedDecomp3D:

decompros's Issues

This is for ROS2 humble

https://github.com/GPrathap/DecompROS/tree/ros2_humble

Computing maximum encompassing ellipsoid

Hi,

Once I obtain the polyhedron using a seed point, is there any support from the library to compute the maximum encompassing ellipsoid lying inside the polyhedron?

I figured that there is support for generating an ellipsoid around a "path", but what I am looking for is something like this - https://github.com/rdeits/iris-distro

Thanks,
Yash

Speeding up convex decomposition

Hi,

One quick question: I've tried test_path_decomp_3d.cpp and it takes ~1305 ms to do the convex decomposition (with the example environment provided). test_path_decomp_2d.cpp takes 944 ms.
Is there a way to speed this up? I'd like to achieve runtimes < 10 ms

Thanks a lot!