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cartesian_planner provides the raster scanning node used by the door-disassembly workflow.

Start here

• Architecture
• Running the Node
• Interfaces and Data
• Raster Algorithm
• Integration with Finite-State-Machine

Package overview

Main source files:

• src/raster_scanner.py
• srv/PlanScanPath.srv
• README.md

Raster path visualization:

What the node does

At a high level, raster_scanner:

1. receives four door corner poses
2. generates a zig-zag raster path between them
3. executes each waypoint through right_arm/arm_control
4. requests perception after each waypoint with task_name = detect_screws
5. collects screw poses returned by perception
6. returns those poses in the PlanScanPath service response

If a waypoint returns no screw detections, that is treated as a normal result and the raster continues.