weeding_bot

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A weeding robot that can autonomously navigate in the field between obstacles, identify different kinds of weeds and then spray them in a Gazebo simulation environment.

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# weeding_bot
A weeding robot that can autonomously navigate in the field between obstacles, identify different kinds of weeds and then spray at them in a Gazebo simulation environment. Originally a Master's course project from the University of Lincoln.

### System Results
![alt text](https://github.com/NekSfyris/weeding_bot/blob/main/results/1.gif)

### Prerequisites

To use this package you need to have: 
* Ubuntu 18.04 LTS
* OpenCV 4.5.1
* ROS Melodic

### Setup

To use this package you first have to install the L-CAS Ubuntu/ROS software distribution. To do so, do:
1. ```sudo ls``` (this is just to cache you admin password for the next steps)
2. ```sudo apt-get update && sudo apt-get install curl``` (curl is required for the next step)
3. ```curl https://raw.githubusercontent.com/LCAS/rosdistro/master/lcas-rosdistro-setup.sh | bash -``` (should install everything required)

Then clone the main CMP9767M package, and our package in your catkin workspace:
```
cd ~/catkin_ws/src
git clone https://github.com/LCAS/CMP9767M
git clone https://github.com/NekSfyris/weeding_bot
cd ..
catkin_make
```

After you are done with that with no erros, do:
```
pip install scipy==1.2.0
```

In case any other package is missing, you can install it with:
```
sudo apt-get install ros-melodic-<package_name>
```

### How to run

To run our system, do the followings in different terminals in this sequence:
1. ```roscore```
2. ```roslaunch weeding_bot our_sim.launch``` (wait for the whole simulation to load before running the next step's command)
3. ```roslaunch weeding_bot system_nodes.launch```

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