Paul Hvass

support: tool0 needed for URDFs

9

Request tool0 be added to each robot, and URDFs updated.

Class agenda is from a legacy class, and needs to be updated.

Line scanner calibration

6

Calibrate the laser line scanner to the robot.

Had a close call yesterday...

Improved macro scan interface (drag to teach, with the ability to iterate and show image paths if we're using an accurate but low volume sensor).

Surface Quality Inspection

1

- [ ] Improve surface defect analysis including ignoring engineering features - [ ] Verify surface roughness measurements w/ surface metrology standard

Replanning

1

Create service that analyzes surface quality map and segments out portions of surface mesh that need rework.

- [ ] `Add logic to handle transition around, above, into features.` - [ ] `Add collision checking for entire process plan.`

We desire for the system to intelligently prune outliers and fill surface holes. Much can be achieved by capturing data from multiple perspectives, but that data must be rationalized. @drchrislewis...

Request code comments for calibration_service.cpp

5

Please provide in-line code comments to the thread calibration_service.cpp