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Created page with "= LOG = # Looked for BSpline implementation, decided to fork https://github.com/chen0040/cpp-spline https://github.com/chen0040/cpp-spline # Faced problems with too many..."
= LOG =
# Looked for BSpline implementation, decided to fork [[https://github.com/chen0040/cpp-spline https://github.com/chen0040/cpp-spline]]
# Faced problems with too many points: <code>rostopic echo</code> did not work any more (message size probably too large)
#* Found workaround by using <code>rosbag record -O path.bag /bambi/coverage_path_planner/path</code> together with <code>rostopic echo -b path.bag /bambi/coverage_path_planner/path > data.txt</code>, but sublime was not able to handle multiple cursor usage for that filesize and regex on command line were to cumbersome
#* Finally decided to implement python ros node that outputs KML format --> <code>/bambi/kml_generator</code> was born
# Obtained better results with BSpline that with CatmullRom
# Optimized first part of CoveragePathPlanning code
= Results =
[[File:Wavefront-screenshot-bspline-2018-08-13.png|800px]]
# Looked for BSpline implementation, decided to fork [[https://github.com/chen0040/cpp-spline https://github.com/chen0040/cpp-spline]]
# Faced problems with too many points: <code>rostopic echo</code> did not work any more (message size probably too large)
#* Found workaround by using <code>rosbag record -O path.bag /bambi/coverage_path_planner/path</code> together with <code>rostopic echo -b path.bag /bambi/coverage_path_planner/path > data.txt</code>, but sublime was not able to handle multiple cursor usage for that filesize and regex on command line were to cumbersome
#* Finally decided to implement python ros node that outputs KML format --> <code>/bambi/kml_generator</code> was born
# Obtained better results with BSpline that with CatmullRom
# Optimized first part of CoveragePathPlanning code
= Results =
[[File:Wavefront-screenshot-bspline-2018-08-13.png|800px]]