robot_mower_2dnav

For a robot mower using rtabmap Paper

Autonomous Navigation and Obstacle Avoidance in an Orchard Using Machine Vision Techniques for a Robotic Mower

YouTube Video

Installation

sudo apt-get install ros-noetic-rtabmap-ros ros-noetic-teb-local-planner

If you want to use GPU, you need to build it from source.

Clone mowing planner and modified darknet_ros

cd ~/catkin_ws/src
git clone https://github.com/inuex3/robot_mower_2dnav.git
git clone --recursive https://github.com/inuex3/darknet_ros.git
git clone https://github.com/inuex3/mowing_planner.git
cd ~/catkin_ws
catkin_make

Localization from rosbag

Download rosbag from here. https://drive.google.com/file/d/1l0IrpAPV1WoW48CIPvnGWnefiqSngt_b/view?usp=sharing

Download weight for yolov3. https://drive.google.com/file/d/13GLpu-C4q3wrMYeovnqS2d8iY-RM0yv8/view?usp=sharing

Put the downloaded weight in darknet_ros/darknet_ros/yolo_network_config/weights

roslaunch robot_mower_2dnav sim_slam.launch
rosbag play forwardbackward.bag --clock

To do

Create the simulation environment with AirSim.

Path planner

This packege uses the waypoint generater from au-automow and heatmap
au-automow https://github.com/Auburn-Automow/au-automow
heatmap https://github.com/eybee/heatmap

Way Point generator usage

run
rosrun robot_mower_2dnav heatmap_client
and
rosrun robot_mower_2dnav path_planner.py
Draw a geometrycal figure with publish_point