Matthew Powelson

Unrecognized command line option '-mno-avx' on aarch64 architecture

2

It looks like this is fixed in opw_kinematics using the code below. However, we may want to instead use the method described [here](https://stackoverflow.com/questions/3134660/how-to-apply-different-compiler-options-for-different-compilers-in-cmake) ``` if ( NOT CMAKE_SYSTEM_NAME2 MATCHES "aarch64"...

Draft: Add basic planar joint support in the urdf parser

1

Levi and I discussed how to implement this. The better solution would probably be to implement planar joints in the state solver. However, that would touch a lot of things....

I don't see any indication of license. Care to add a license file?

Requires [tesseract #915](https://github.com/tesseract-robotics/tesseract/pull/915). This listens to TF to update planar joints. We should probably do some more performance testing on this before merging. TFBuffers can add some CPU overhead. We...

surface_raster_planner_server segfaults if config is empty

1

If that is the case the default is supposed to get used, but we are using the wrong one. We need to take tpp_configss outside the mutex and replace [this](https://github.com/ros-industrial/noether/blob/3765895f451cbff8eefb5ec1e5a2387042ab65a4/noether/src/surface_raster_planner_server.cpp#L98)...

Rasters do not extend all the way across the mesh when rotating them

1

See comment and images on #31 . Here's a preview. 

It appears that sometimes process.computePaths() does not return any paths. This varies from run to run. This obviously causes multiple tests to fail. To generate error run `catkin run_tests tool_path_planner...

Potential Divide by 0 in raster_tool_path_planner.cpp

1

See comments on #31

Importing PLY vs STL gives different segmentation results

1

There is some difference in the segmentation results when importing the same mesh from a ply vs stl. When importing a ply, we use pcl:io to a PolygonMesh then convert...

Convert to use OpenCL instead of CUDA

7

Has any thought been put into this? I have no experience with OpenCL but from what I know it would have several advantages primarily allowing yak to run on multiple...