jiaqiwu1999 / boeing

Boeing arm in ROS2 Foxy & Moveit2 & C++

The c++ version of Boeing ur5 arm

Required libraries:

1. Boost

• used for serial communication

2. Eigen3
3. Alglib

• used to perform cubic 2D interpolation
• open to alternatives if better libraries are found
• https://www.alglib.net/

4. openCV

• used to perform matrix pseudoinverse, also gaussian filtering in mesh building

TODOs

1. Need an end-of-file line in gcode file, otherwise the boost reading may block and enter eternal waiting
2. Add the re-timer part of the project
3. Add the mesh building part of the project