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weeding_bot

A weeding robot that can autonomously navigate in the field between obstacles, identify different kinds of weeds and then spray at them in a Gazebo simulation environment. Originally a Master's course project from the University of Lincoln.

System Results

alt text

Prerequisites

To use this package you need to have:

  • Ubuntu 18.04 LTS
  • OpenCV 4.5.1
  • ROS Melodic

Setup

To use this package you first have to install the L-CAS Ubuntu/ROS software distribution. To do so, do:

  1. sudo ls (this is just to cache you admin password for the next steps)
  2. sudo apt-get update && sudo apt-get install curl (curl is required for the next step)
  3. curl https://raw.githubusercontent.com/LCAS/rosdistro/master/lcas-rosdistro-setup.sh | bash - (should install everything required)

Then clone the main CMP9767M package, and our package in your catkin workspace:

cd ~/catkin_ws/src
git clone https://github.com/LCAS/CMP9767M
git clone https://github.com/NekSfyris/weeding_bot
cd ..
catkin_make

After you are done with that with no erros, do:

pip install scipy==1.2.0

In case any other package is missing, you can install it with:

sudo apt-get install ros-melodic-<package_name>

How to run

To run our system, do the followings in different terminals in this sequence:

  1. roscore
  2. roslaunch weeding_bot our_sim.launch (wait for the whole simulation to load before running the next step's command)
  3. roslaunch weeding_bot system_nodes.launch