Part of the AgROS Suite, this package generates boustrophedon motion for use in fields.
- ROS (see package.xml)
- MatPlotLib
- Shapely
To use the path generation node, you must know the UTM zone/band that you'll be working in (it will be added to your config file). This package provides a simple tool to check this information, using the following command:
rosrun agros_paths find_zone.py _lat:=<LAT> _lon:=<LON>
- Modify or copy the example config file (
config/example.yaml) to set your desire geometric and geographic properties - Launch the node using
roslaunch agros_paths path.launchand the the generator will publish a nav_msgs/Path and a geometry_msgs/RouteNetwork message to be used in other nodes.
Launch the follower node using roslaunch agros_paths follower.launch. It will wait and
use the first path message it receives and will focus on it. You may set the base
frame id and the acceptance threshold (how close you must be to satisfy "goal reached")
in the launch file
When launching, if the visualize parameter is set to true, then a plot will appear to visualize the AB line, boundary, headlands, and generated path. The generated path will always be colored fuchsia. (Note: Because the AB line gets inflated, the plot may be initially zoomed out)
There are some known issues with the algorithm that solutions are being found for.
(Generator)
- If the AB line has an azimuth of 0° (i.e. the points true north) it can't always choose the right direction to propagate the offsets
- Right now it assumes that the inner headlands border and the AB line do not intersect. This may cause some issues, but you can always translate it away for the time being
(Follower)
- If the robot manages to skip a goal without getting close enough to it, the robot must go back to reach the goal. It is planned to add a "look ahead" feature to deal with skips such that if you are significantly close to one of the proceeding goals, it will jump to that one