In-Field Agricultural Robotics – From Vision and Environment Perception to Autonomous Action

Requirements

A system with setup ROS 1 Melodic or higher (tested for Melodic and Noetic)

Installation

Installation in a new catkin workspace

exemplary installation using using catkin_make

source your ROS installation (replace ROS_DISTRO with the ROS_DISTRO you are using (e.g. 'noetic')

source /opt/ros/ROS_DISTRO/setup.bash

create new catkin workspace

mkdir -p ~/infield_robotics_ws/src

switch into that workspace

cd ~/infield_robotics_ws/src

clone the repository with the tasks from above or git clone our alternative hub repository:

git clone https://github.com/ATB-potsdam-automation/infield_robotics_workshop.git

(optional) clone the repository with the solutions (see below), or git clone our alternative hub repository:

git clone https://github.com/ATB-potsdam-automation/infield_robotics_workshop_solutions.git

switch to workspace root folder

cd ~/infield_robotics_ws

build the workspace

catkin_make

Installation in an existing catkin workspace

1. source your catkin workspace
2. change directory into your workspaces src folder
3. clone the reposistories
4. build using catkin_make / catkin build

Installation using Devcontainers (VS Code)

NOTE: This option installs the workspace in a Docker container, unlike the above two options which install on your local system.

A Devcontainer configuration is provided in this repo under .devcontainer for use within VS Code. Note: You will need to have Docker installed on your system in order to build and run the container.

    Install the Dev Containers extension for VS Code.
    From the remote connection window (found by clicking on the green icon at the bottom left of the VS Code window) choose "Reopen in Container"
    From the ~/infield_robotics_ws directory in a bash shell, build using catkin_make / catkin build

The container will open in a pre-made ROS workspace directory with this respository cloned inside a src/ subdirectory, having already run the setup script for ROS.

See here for more information about using Devcontainers in VS Code.

Running the Exercises

Open a terminal and source your catkin_ws and ROS installation

~/infield_robotics_ws/devel/setup.bash

launch the data playback

roslaunch infield_robotics_workshop workshop.launch

open a second terminal and source your catkin_ws and ROS installation

~/infield_robotics_ws/devel/setup.bash

run the tasks contained in the 'scripts' foulder (here the task1.py)

rosrun infield_robotics_workshop task1.py