UGV-Embrapa: Unmanned Ground Vehicle for Agricultural Monitoring

Welcome to the documentation for the UGV-Embrapa project, an Unmanned Ground Vehicle (UGV) for monitoring fruit and forestry plots. Here you will find information about the project, how to assemble and use the robot and how to setup the software stack to perform autonomous navigation, mapping and telemetry.

Contents:

• Papers
• Overview
  • About Embrapa Digital Agriculture
  • Why is this project important?
  • Development Environment
  • Key Components
  • Safety Features
  • Results and Performance
  • Future Directions
• Mechanical Assembly
  • Overview
  • Chassis Design
  • Assembly Instructions
  • Component Adaptations
  • Autonomous Navigation/SLAM Module
• Schematics and Wiring
  • Prerequisites
  • Power Supply Setup
  • Motor System Installation
  • Control Systems Setup
  • Safety Systems
  • Display Installation
  • Wiring Guidelines
  • Dell Optiplex Power Supply
  • GPS Module Board
  • Testing and Verification
• Environment Setup - Raspberry Pi
  • Operating System Installation
  • Configuring Raspberry Pi as Server and SSH Communication
  • ROS Humble Installation
  • Manual Rover Bringup
  • Automatic Bringup with Launch Script
  • Image Acquisition Setup
• Remote Control Operation
  • Controller Setup
  • Control Mapping
  • Emergency Routine
  • Operating the UGV
• Environment Setup - Dell Optiplex
  • 1. Install ROS 2 Humble and Required Packages
  • 2. Create a Colcon Workspace
  • 3. Clone Required Repositories
  • 4. Build the Workspace
  • 5. Configure Realsense D435i
  • 6. Configure LiDAR LDS-02
  • 7. Final Steps
• Launch Package
  • Usage
  • Configuration Notes
  • Launch Files
• Waypoint Navigation
  • Global Route Planning
  • Local Trajectory Control
  • Behavior Server
  • Costmap Configuration
  • GPS Integration
• Cloud Architecture
• Contributors
  • Team Members - V1
  • Team Members - V2
  • Advisor
  • Mentor
  • Documentation