Video

Click the above image to watch the video

Poster

Prerequisites

• Install Husky packages
  • https://www.clearpathrobotics.com/assets/guides/kinetic/ros/Drive%20a%20Husky.html
• Install PCL
  • https://pointclouds.org/downloads/
  • sudo apt install libpcl-dev
• Install velodyne-simulator
  • sudo apt install ros-noetic-velodyne-simulator
• Install octomap packages
  • http://wiki.ros.org/octomap_mapping?distro=noetic
  • sudo apt-get install ros-noetic-octomap ros-noetic-octomap-mapping
  • sudo apt-get install ros-noetic-octomap-rviz-plugins for rviz visualization

Instructions

• Run simulation via the following commands

catkin_make
source devel/setup.bash
roslaunch farmland_simulator husky_farmland.launch

• After simulation environment and rviz are fully loaded, run the following command to start exploration

rosrun farmland_planner farmland_planner_node

Notes

• The official Husky document: https://www.clearpathrobotics.com/assets/guides/kinetic/husky/HuskyFrontiers.html#instructions