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

Youtube video

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

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.

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.

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}
}

Maintenance

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

[email protected]