README.md

botanbot_sim

Documentation is here ; https://botanbot-sim.readthedocs.io/en/latest/

Simulation of a Ackermann robot for agricultural cases. It is also a use-case of vox_nav 2.5D navigation framework. Refer to vox_nav to find out more about vox_nav.

running botanbot

Note that the main branch is targeted to ROS2 Foxy version. You can see steps under botanbot_sim/.github/workflows/main.yml on how to build botanbot locally.

After sucessul build;

Follow the steps at here. There is a simple GUI provided to start different gazebo worlds as well as to teleoperate the botanbot.

After you select a Gazebo world, then click on Gazebo World StandAlone, to spawn the robot and start the simulation. You can also try with navigation2.

Alternatively run it in docker

Build the image with:

docker build -t lcas.lincoln.ac.uk/lcas/botanbot_lcas:docker .

Run with:

docker-compose up

Open a browser and type: localhost:6080

Kill with:

docker-compose down

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See the video below to get a insight of what botanbot looks like in action.

• Botanbot Climbing Hill like A Champ with help of vox_nav
• Botanbot freely Roaming out of Boredom

The botanbot is able to navigate through an uneven terrain(use container_office_world or uneven_world).