Matthew Powelson

@Levi-Armstrong Would you mind commenting on what you think would be involved to fix this? Would this be a good first issue (e.g. for World ROS-I day 2021)?

@Levi-Armstrong One other practical issue with this is memory usage. In my experience, adding and removing octree links is infeasible because it blows up the command history. Memory usage grows...

I think touch points are a premium feature that require a monthly subscription. I'd remove them completely.

@marip8 @jrgnicho @DavidMerzJr Could we rename this to at least toolpath_offline_planning? I imagine it isn't hard for someone with the appropriate permissions, and it is going to become more invasive...

It looks like we need to modify the offset line creation here. Perhaps make them extend sqrt(2)*principal_axis_length https://github.com/ros-industrial/noether/blob/3d84fac8e08f67620adbfaf958ed3c310a2f9818/tool_path_planner/src/raster_tool_path_planner.cpp#L1441

> We were also thinking it may be using some uninitialised memory somewhere. Especially the screenshot in the bottom-right made me suspicious. I remember thinking the same thing wrid19 when...

@drchrislewis After taking a look at this, I don't think this is actually an issue. There would only be a divide by 0 if one of the two largest axis...

More broadly, revamp the cmake to use https://github.com/ros-industrial/cmake_common_scripts

I'm starting on this, but I'd say it is unlikely that I will get all of the packages done.

This should be beginner friendly.