Mesh does not have vertex normals

[dhruvilmahidhariya]

I have recently started using noether for milling tool path planning for a robot. when i load the mesh, use for parameters and plan the tool path, It shows that 'Mesh does not have vertext normals'. The error persist with different pieces. What could be the reason?

Moreover, Is there any proper documentation on how to use noether? The read.me is very less helpful in it.

Plus, When it plans and we save the path in yaml file, can any body tell me what type of information does it have? e.g. X,Y,Z of generated point? as I am unable to generate the path.

[marip8]

when i load the mesh, use for parameters and plan the tool path, It shows that 'Mesh does not have vertext normals'. The error persist with different pieces. What could be the reason?

Some component of your tool path planning pipeline requires that your mesh have vertex normal information, but the mesh you passed in does not have that information. The error message is not particularly helpful (as you have found out) because it doesn't tell you which component needs vertex normals. This issue is documented here and will is on the list to be fixed soon. The error message is probably coming from the tool path planner. You can avoid this issue by running a normal estimation mesh modifier like NormalsFromMeshFaces or NormalEstimationPCL

Moreover, Is there any proper documentation on how to use noether? The read.me is very less helpful in it.

I'm not entirely sure what you mean by "proper" documentation, but the README and docs folder contain some information about the architecture of the project and what the data types represent. You can also check out the repository for the workshop I put on at ROSCon this year, which has a presentation about noether and a few exercises that show how to customize it for specific use-cases. The scan_n_plan_workshop repository also has an example of how the pieces of this repository are used in a ROS-based robotics application.

Plus, When it plans and we save the path in yaml file, can any body tell me what type of information does it have? e.g. X,Y,Z of generated point? as I am unable to generate the path.

Currently the GUI does not have the ability to save tool paths to file. It should be pretty trivial to implement, but I haven't had time to get to it yet. Nominally, the waypoints are represented as 6 DoF transforms; my plan is to save them to a YAML file (probably as XYZ positions and quaternions) in the same nested structure as the code objects (i.e., tool path and tool path segments)

[marip8]

Moreover, Is there any proper documentation on how to use noether? The read.me is very less helpful in it.

Check out the new repo website (https://ros-industrial.github.io/noether) for updated code documentation.

Also see #283 for a PR that updates reporting around the vertex normal issue.