exercise_1a

Exercise 1a

Experiment with the GUI provided in noether. Your efforts should utimately produce output tool paths that look something like the images below:

Running the GUI

First launch the noether_gui app. This can be done using the ROS2 CLI utilities:

source <path>/<to>/<workspace>/install/setup.bash
ros2 run noether_gui noether_gui_app

or by manually running the GUI executable:

cd <path>/<to>/<workspace>
source install/setup.bash
./install/noether_gui/bin/noether_gui_app

Java Library Loading Issues

On Ubuntu 22.04+, a few Java libraries cannot be found for dynamic loading by default. Add the following paths to the LD_LIBRARY_PATH environment variable to avoid this issue. Consider adding this change to your .bashrc file so you don't have to set it every time.

Ubuntu 22.04

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/jvm/java-11-openjdk-amd64/lib:/usr/lib/jvm/java-11-openjdk-amd64/lib/server

Ubuntu 24.04

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/jvm/java-21-openjdk-amd64/lib:/usr/lib/jvm/java-21-openjdk-amd64/lib/server

Tasks

• Load the multi_component.ply mesh
• Create a raster tool path over the whole mesh
• Create a raster tool path over each individual component of the mesh
• Create a raster tool path over each individual component of the mesh, where the tool paths are generated on a plane rather than the mesh surface
• Modify the output tool path such that the end of one raster is adjacent to the start of the next raster (i.e., the raster has a snake-style shape)
• Modify the output tool path such that the x-axis of the waypoints flips from one stroke of the raster to the next
• Add an approach and departure point above the start/end of each raster
• Visualize the tool path lines and modified mesh

Solution

The solution tool path planner configuration file can be found here. Load this file into the GUI to see the combination of mesh modifiers, tool path planner, and tool path modifiers used to accomplish the tasks listed above.