catenary_checker

Simple algorithm for check whether a catenary can be found in a environment in such way that it does not collide with obstacles

Installation and dependencies

The code presented here has been tested in Ubuntu 20.04, with ROS Noetic and requires qt5-charts and qt5-widgets libraries. To install them you can use apt-get (tested in Ubuntu 20.04):

  sudo apt-get install libqt5charts5-dev libqt5widgets5 

Moreover, it requires our wonderful DBScan-line library :

  git clone https://github.com/robotics-upo/dbscan_line
  cd dbscan_line
  mkdir build
  cd build
  cmake ..
  make
  sudo make install

Compile it with catkin:

To compile it, please clone the repository into the src folder of your favourite catkin_ws. For example:

  cd ~/catkin_ws/src
  git clone https://github.com/robotics-upo/catenary_checker

Then, use a build utility to build the binaries (for example catkin_make).

cd ~/catkin_ws
catkin_make

A simple test

To run a simple test, make sure that the ROS environment variables are loaded (source the setup.bash file of your catkin workspace) and then simply execute:

rosrun catenary_checker test_catenary_checker