farmbot_localization

Overview

farmbot_localization is a ROS package designed to provide localization capabilities for the FarmBot project. This repository is part of the farmbot-ros organization and focuses on enhancing the precision and efficiency of FarmBot's operations through advanced localization techniques.

Repository Structure

• C++: 90.1%
• Python: 6.1%
• CMake: 3.8%

Getting Started

To get started with farmbot_localization, clone the repository and follow the setup instructions provided below.

git clone https://github.com/farmbot-ros/farmbot_localization.git
cd farmbot_localization

Installation

Detailed installation instructions will be provided here. For now, please follow the standard ROS package installation procedures.

Usage

Instructions on how to use the package and integrate it with other FarmBot systems will be provided here.

Internals

Overview

The farmbot_localization package provides advanced localization capabilities for the FarmBot project, utilizing various localization methods including single antenna, dual antenna, and bearing-based localization. This package allows for flexible configuration through parameters set in Python files, and the datum can be set either automatically or manually.

Localization Methods

1. Single Antenna (src/single_antenna.cpp)

   • Uses a Kalman Filter to process GPS data.
   • Configures topics for GPS data and publishes front and back antenna data.
   • Parameters: gps_topic, gps_main, gps_aux, kallman_type.

2. Dual Antenna (src/dual_antenna.cpp)

   • Synchronizes data from dual antennas to enhance localization accuracy.
   • Calculates bearing between GPS points.
   • Parameters: gps_main, gps_aux, angle_gpses.

3. Bearing-Based Localization (src/fix_n_bearing.cpp)

   • Processes GPS and angle degree data to publish localized fixes.
   • Converts angles to radians for calculations.
   • Parameters: gps_corr, angle_deg.

Datum Settings

• Automatic Datum Setting (src/using_enu.cpp)

  • Automatically sets the datum based on GPS lock time.
  • Parameters: autodatum.

• Manual Datum Setting

  • Datum can be set manually through service calls.
  • Services: farmbot_interfaces/srv/Datum, farmbot_interfaces/srv/Trigger.

Parameters

• Thresholds and Filters

  • Kalman Filter parameters: process_noise, measurement_noise.
  • Movement threshold for switching modes: threshold.

• Topic Prefixes

  • Customizable topic prefixes for publishing and subscribing to ROS topics.
  • Parameters: topic_prefix.

Key Classes and Methods

1. GpsAndDEg

   • Handles GPS and degree calculations.
   • Methods: gps_corr_callback, angle_deg_callback, timer_callback.

2. AntennaSplit

   • Manages split of GPS data for single antenna mode.
   • Methods: callback, thresh_callback.

3. AntennaFuse

   • Fuses data from dual antennas for enhanced localization.
   • Methods: callback, calc_bearing.

4. Gps2Enu

   • Converts GPS data to ENU (East-North-Up) coordinate system.
   • Methods: callback, datum_gps_callback, datum_set_callback.

Contributing

Contributions are welcome! Please fork the repository and submit pull requests. Make sure to follow the contribution guidelines.

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

For any inquiries or support, please open an issue on the repository.