Update

1. remove tf dependencies and included tf2 similar to costmap2D and ros nav core packages.
2. makes on Melodic and further

AgriBot - Agricultural Mobile Robot Platform

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Youtube video

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Project mission

The mission of the project is to build an agricultural robot (AgriBot) from scratch with the aim of serving as a data-recording platform in fields. For further information about the design and purpose of the robot, please follow the About the AgriBot Project page

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Getting Started

For easily bringing up the robot and recording data refer to Easy bring up & Record Data which provides step-by-step instructions to run the robot.

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Main Sections

• Easy Bring up & Record Data : Instructions for running the robot and recording the sensor data to a bagfile.
• AgriBot Software : Details about different packages written for the platform like navigation, localization, base controller, etc.
• Mechanical Design : Detail about how mechanical structure has been designed and improved during the project time.
• Electrical Design : Electrical schematics and descriptions about connections and wiring protocols used in the robot.
• Debug: Debug procedures for common problems.

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Citation

if you use this project in your recent works please reference to our paper by:

@article{ahmadi2021towards,
  title={Towards Autonomous Crop-Agnostic Visual Navigation in Arable Fields},
  author={Ahmadi, Alireza and Halstead, Michael and McCool, Chris},
  journal={arXiv preprint arXiv:2109.11936},
  year={2021}
}

@inproceedings{ahmadi2020visual,
  title={Visual servoing-based navigation for monitoring row-crop fields},
  author={Ahmadi, Alireza and Nardi, Lorenzo and Chebrolu, Nived and Stachniss, Cyrill},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={4920--4926},
  year={2020},
  organization={IEEE}
}

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Maintenance

This repository is maintained by Alireza Ahmadi. In case of any problems, please don't hesitate to contact me.

[email protected]