smartag_datacollection

WIP

Collect farm and plant data using a Clearpath Robotics Husky base from various farms in and around West Virginia. Tested on Melodic Noetic WIP

Required Hardware

ZED 2i

Velodyne HDL-32E (Required for direct compatability, all Velodyne lidars are compatable with small edits)

Intel Realsense D435

Clearpath Robotics Husky

Novatel GPS receiver and OEM6/7 IMU

Dependencies

Novatel GPS Driver: https://github.com/swri-robotics/novatel_gps_driver

Realsense Driver: https://github.com/IntelRealSense/realsense-ros

Velodyne Driver: https://github.com/ros-drivers/velodyne

Zed SDK/wrapper: https://github.com/stereolabs/zed-ros-wrapper

GPS Browser Visualizer: https://github.com/ziliHarvey/GPS-Browser-Visualizer

Installation

1. Make sure that the required hardware is setup properly
2. Clone the following workspaces into your src folder and run catkin_make (make sure to install the proper dependencies when required):

cd ~/${YOUR_CATKIN_WS}/src
sudo apt install ros-melodic-husky-base
git clone https://github.com/adsarver/smartag_datacollection
rosdep install --from-paths src --ignore-src -r -y
catkin_make

How to run

1. Navigate to the workspace src folder and run the launch.sh:

cd ~/${YOUR_CATKIN_WS}/src
sh launch.sh

Optional

1. CMU Exploration: Efficient autonomous navigation and path planning

https://www.cmu-exploration.com/development-environment

2. FAST_LIO: Fast mapping using lidar and imu data (post and live processing)

https://github.com/hku-mars/FAST_LIO