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SNP Implementation for Robotic Blending Milestone 5

This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for grinding the part in a raster pattern

Build Setup

  1. Follow the build setup instructions for the main repository

Build

colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF

Running the system

Simulation

ros2 launch snp_blending start.launch.xml

On Hardware

```bash
cd <snp_workspace>
source install/setup.bash
ros2 launch snp_blending start.launch.xml sim_robot:=false sim_vision:=false
```