Choreo

A robotic motion planning platform for discrete architectural assembly

Currently we support ROS-kinetic on Ubuntu 16.04.

       

Installation

If you are new to Linux or ROS, you might find links in the references section handy.

Build from source

Name	Description	Install
ROS-kinetic	base ROS system on Ubuntu 16.04	follow instruction here
python_catkin_tools	catkin build tool	sudo apt-get install python-catkin-tools
wstool	workspace version control	sudo apt install python-wstool
moveit!	The Moveit! motion planning framework	sudo apt-get install ros-kinetic-moveit
moveit visual tools	visualization aids in rviz	sudo apt-get install ros-kinetic-moveit-visual-tools

• Cd into the 'src' directory of your catkin workspace (~/catkin_ws/src in my case) and run the following:

  wstool init . 
  wstool merge https://github.com/yijiangh/Choreo/raw/kinetic-devel/choreo.rosinstall
  wstool update
  rosdep install --from-paths . --ignore-src

• Finally, build Choreo from src:

  cd ~/catkin_ws (your catkin workspace root)
  catkin build
  source devel/setup.bash

Docker image

Coming soon.

Quick start demo

Start playing with robotic spatial extrusion on a KUKA KR6R900 robot:

roslaunch framefab_kr6_r900_support kr6_r900_choreo.launch

Or on an ABB robot mounted on a linear track:

roslaunch framefab_irb6600_support irb6600_choreo.launch

First set up your print model by clicking the Parameters button and set up model file path in Model Input (you might need to set up the robot start pose too). Save it and click Next. Some test models for spatial extrusion can be found here.

More detailed instruction coming soon.

Code API

Coming soon.

Publications

If you use this work, please consider citing as follows:

@article{Huang_Garrett_Mueller_2018, 
title={Automated motion planning for robotic assembly of discrete architectural structures}, 
url={http://arxiv.org/abs/1810.00998}, 
note={arXiv: 1810.00998}, 
journal={arXiv:1810.00998 [cs]}, 
author={Huang, Yijiang and Garrett, Caelan Reed and Mueller, Caitlin Tobin}, year={2018}, month={Oct} }

Algorithms behind Choreo:

• Automated motion planning for robotic assembly of discrete architectural structures, Preprint, paper link

Applications of Choreo:

• Robotic extrusion of architectural structures with nonstandard topology, RobArch 2018, paper link
• Spatial extrusion of Topology Optimized 3D Trusses, IASS 2018, paper link

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

References

If you are new to Linux: You may find it helpful to first do a quick tutorial on common command line tools for linux. A good one is here.

For researchers and developers who wants to dive deep into the system implementation but not familiar to ROS, you may find the official ROS tutorial here useful.