Important

As Nav2 released an actual proper wrapper for ROS (https://github.com/open-navigation/opennav_coverage), we have decided to unmantain this repository.

Fields2Cover ROS

This package is an interface to ROS of the Fields2Cover library

Installation

This code has been tested with ROS 1 noetic and melodic, and ROS 2 galatic, humble and rolling.

ROS 1

First, install ROS noetic and create a workspace (from now: catkin_ws/ ).

From catkin_ws/ clone and compile the package as:

git clone https://github.com/Fields2Cover/Fields2Cover src/fields2cover
git clone https://github.com/Fields2Cover/fields2cover_ros src/fields2cover_ros
rosdep install -r --ignore-src -y --from-paths .
catkin_make_isolated

ROS 2

Install ROS 2 and create your workspace as mkdir ws.

From ws/ clone and compile the package as:

git clone https://github.com/Fields2Cover/Fields2Cover src/fields2cover
git clone https://github.com/Fields2Cover/fields2cover_ros src/fields2cover_ros
rosdep install -r --ignore-src -y --from-paths .
colcon build

Running a demo (Only on ROS 1)

To run an interactive demo, run:

roslaunch fields2cover_ros view_field.launch

A rviz and a rqt_reconfigure windows will appear, so you can interactively modify the path created:

Citing

Please cite the following paper when using Fields2Cover for your research:

@article{Mier_Fields2Cover_An_open-source_2023,
  author = {Mier, Gonzalo and Valente, João and de Bruin, Sytze},
  doi={10.1109/LRA.2023.3248439},
  journal={IEEE Robotics and Automation Letters},
  title={Fields2Cover: An open-source coverage path planning library for unmanned agricultural vehicles},
  volume={8},
  number={4},
  pages={2166-2172},
  year = {2023}
}

Credits and more info

This code repository is part of the project Fields2Cover which is (partly) financed by the Dutch Research Council (NWO).