ViV ROS

Ros packages for the ViV UGV developed for the HEKTOR project.

Contains description, control and Gazebo packages.

🛠️ Usage

⚙️ Build the project

Clone into a catkin workspace and build with

catkin build viv_gazebo

🖥️ Launching the simulation

• To launch an empty world simulation:

    roslaunch viv_gazebo viv_empty_world.launch  
  

• To launch a simulator with a randomly generated vineyard:

  1. Navigate to viv_description/scripts

  2. Once you are located in viv_description/scripts generate a spawn_random_vineyard.launch with generate_random_vineyard_launch

     • Example:

       • to generate a spawn_random_vineyard.launch with 2 rows, and 5 randomly selected plant models in a single row:

           ./generate_random_vineyard_launch.py 5 2  
         

  3. Launch the simulation with:

      roslaunch viv_gazebo viv_random_vineyard.launch spawn_d435:=true
     

  4. Wait for all the grapevines to spawn, and unpause the simulation

🚜 Control

ViV is spawned with a ROS differential drive controller

• Velocity is commanded by publishing a Twist message to

    /viv/velocity_controller/cmd_vel