Agromatic

An agro-matic robot simulator

First, put the content of the folder /models inside in your /.gazebo hidden folder in your /home

AMCL: Static map: Map with dynamic obstacles:

How to use

To run map+husky, run

roslaunch agromatic_gazebo husky_sim.launch

To run Rviz, run

roslaunch husky_viz view_robot.launch

To run AMCL or gmappin with "move_base" node, run

roslaunch husky_navigation amcl_demo.launch

or

roslaunch husky_navigation gmapping_demo.launch

To run the custom python node for sending goals

rosrun sending_goals sg_spawn_tomato.py

Todo

• trying the gmapping and amcl to save a map and locate the robot
• improving the sending_goals.py to implement the tracker for the timer and multiple goals (try with playpen) (also: draw a custom path in a python program)
• in the sending-goals timer check why it does not read the first two goals and make a node to check that the goal was reached.
• check dwa planner parameters