multi-region selection and advanced features

[backrobot]

Dear ros-industrial-consortium/scan_n_plan_workshop Team,

I came across the video linked below:
https://m.youtube.com/watch?v=q1dnmRasb74

It showcases the latest version of snp_blending(scan_n_plan_workshop) with advanced features such as multi-region selection, multiple toolpath generation, and joint trajectory planning. Could you please confirm if these features are available in the newest snp_blending version ?

Thank you for your support and clarification!

[marip8]

To answer your question: yes, multi-region selection and tool path planning on multiple selection regions has been a feature of scan_n_plan_workshop since version 4.6.0. See the README of the rviz_polygon_selection_tool repository for details on how to draw multiple boundaries. If multiple boundaries are drawn, the tool path planner will automatically generate tool paths on each region (given that your tool path planner configuration includes an ROISelectionMeshModifier element; see here for an example)

FWIW, scan_n_plan_workshop and snp_blending are two different repositories. snp_blending is an implementation of scan_n_plan_workshop for a specific hardware setup that we have in our lab at SwRI. snp_blending has been updated to work with scan_n_plan_workshop version 5.0, so it is also nominally configured with the features you are asking about.