Simulation of the soybean crop weeding robot developed by CIFASIS.

weed_robot_simulation is released under BSD-2-Clause license.

If you use weed_robot_simulation in an academic work, please cite:

@article{ait2023travelling,
          title = {{A Travelling Salesman Problem Approach to Efficiently Navigate Crop Row Fields with a Car-Like Robot}},
          author = {Ait, Ismael and Kofman, Ernesto and Pire, Taih{\'u}},
          journal = {IEEE Latin America Transactions},
          volume = {21},
          number = {5},
          pages = {643-–651},
          month = {April},
          year = {2023},
          issn = {1548-0992},
          url = {https://latamt.ieeer9.org/index.php/transactions/article/view/7751}

}

Install docker using apt and not the snap package.

sudo apt install docker.io

Install rocker

sudo apt-get install python3-rocker

Install Nvidia GPU and GUI support packages

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)

curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
	
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

curl -s -L https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit

Restart docker daemon

sudo systemctl restart docker

docker build . --tag navigation:latest

Run docker image

rocker --nvidia --x11 navigation:latest

In the opened shell run the navigation script weed_robot.sh, for example:

src/weed_robot_navigation/bin/weed_robot.sh -n -s -g -v -w field -m field \
	-t "[3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17]" \
	-p "-x -14.56 -y -12.0 -Y 1.570796327"