Grasshopper Manual Control and Odometry Estimation

Pre-requisites

Linux 22.04: https://releases.ubuntu.com/jammy/

ROS2 Humble: https://docs.ros.org/en/humble/index.html

VESC Connections in USB Hub:

1. Left Front VESC – ttyACM0
2. Right Front VESC – ttyACM1
3. Left Rear VESC – ttyACM2
4. Right Rear VESC – ttyACM3
5. IMU VESC – ttyACM4

Robot Manual Control Launch Steps

Clone the Repository into your Workspace

git clone https://github.com/HSM-Terra/GRASSHOPPER-Manual_Control_and_Odometry_Estimation

Build the Workspace

1. Install all the dependencies

2. Navigate to each package folder and check the README for related dependencies specific to the concerned package

3. Build the Workspace

colcon build

Launch the VESC Node

ros2 launch vesc_driver vesc_driver_node.launch.py 

Connect your Joystick via Bluetooth

Launch the Joystick Control Node

ros2 launch ros2_vesc_drv vesc_with_joy.launch.py 

Grasshopper Odometry Estimation

Pre-requisites

Sick TiM 551 LiDAR: https://www.sick.com/at/en/products/lidar-and-radar-sensors/lidar-sensors/tim/tim551-2050001/p/p343045

Connect the LiDAR via USB and Launch the ROS2 node

ros2 launch sick-tim sick_tim551_2050001_usb.launch.py

Filtered Odometry Launch

ros2 launch ros2_odometry_estimation robot_odometry_filtered.launch.py

FRE 2024 Task 1 and Task 2 Navigation Sequence (Crop Lane 1, Turning Sequence 1 & 2)

Launch Navigation Node

ros2 launch local_controller node.launch.py

Individual Sequences and RANSAC Algorithm can be found in /local_controller/local_controller folder.

For Maize Crop Counting, please refer to the related repository: https://github.com/HSM-Terra/PERCEPTION-Maize-Crop-Detection-Tracking-and-Counting

FRE Navigation Task 1 Implementation

FRE.-Task1-Video.mp4