Amiga_Simulation-Environments

We perform simulation in Gazebo simulator and utilize cropcraft tool to generate the crop field environments.

Installation (tested in ros noetic)

Install the Husky package

Add the Clearpath Robotics repository (if not already added):

sudo sh -c 'echo "deb http://packages.clearpathrobotics.com/public/$(lsb_release -sc) $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -

install Husky package

sudo apt update
sudo apt install ros-noetic-husky-desktop
sudo apt install ros-noetic-husky-control

Installation of Gazebo environment package

cd ~/catkin_ws/src
git clone https://github.com/Kantor-Lab/Amiga_Simulation-Environments
cd ~/catkin_ws && catkin_make

Installation of Amiga robot URDF description from branch "ruiji"

Follow the instructions in that repo README.md file

Add Gazebo Models

cd ~/.gazebo/models

Move every model in models file to this path.

Launch Simulation

cd ~/catkin_ws
source devel/setup.bash
roslaunch iowa_navigation amiga_playen.launch

Citation

if you have used this project in your recent works please reference to it:

@misc{liu2024overcanopyautonomousnavigationcropagnostic,
      title={Towards Over-Canopy Autonomous Navigation: Crop-Agnostic LiDAR-Based Crop-Row Detection in Arable Fields}, 
      author={Ruiji Liu and Francisco Yandun and George Kantor},
      year={2024},
      eprint={2403.17774},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2403.17774}, 
}