Open Autonomous Tractor

An open-source ROS package for autonomous tractor simulation and development.

Overview

This package provides a framework for simulating and developing autonomous navigation systems for agricultural tractors. It includes components for localization, path planning, visualization, and tractor model simulation.

The package is designed with a modular structure to support research and development in agricultural robotics, particularly focusing on autonomous tractors in field environments.

Features

• Tractor Model Simulation: URDF-based tractor model with realistic physical parameters
• Localization System: Japanese Plane Rectangular Coordinate System for precise positioning
• Path Planning: Tools for recording and generating navigation paths
• Visualization Tools: Field and road boundary visualization for RViz
• Teleoperation: Simple keyboard-based teleop controls for manual operation

Installation

Prerequisites

• ROS Noetic (Ubuntu 20.04)
• Python 3

Building from Source

# Create a catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

# Clone the repository
git clone https://github.com/chobabo/open-autonomous-tractor.git

# Install dependencies
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y

# Build the package
catkin_make

# Source the workspace
source ~/catkin_ws/devel/setup.bash

License

This project is licensed under the MIT License.