Agri-Bot for Greenhouse Automation

This project focuses on an agricultural robot (Agri-Bot) that navigates a simulated greenhouse environment to detect, pick, and place ripe tomatoes. The bot uses Intel RealSense D435i for object detection and depth estimation, with image thresholding for identifying ripe tomatoes. Additionally, Lidar is used for obstacle avoidance and navigation.

Table of Contents

• Project Overview
• Features
• Installation
• Usage
• Images
• Video Demo
• Contributing

Project Overview

The Agri-Bot autonomously moves within a greenhouse simulation to identify ripe tomatoes based on color detection. It leverages the Intel RealSense D435i camera for depth sensing and object detection. The bot uses Lidar for obstacle avoidance, ensuring smooth navigation while avoiding collisions with objects in the greenhouse.

Features

• Tomato Detection: Identifies ripe tomatoes using image thresholding based on red color.
• Depth Estimation: Uses Intel RealSense D435i for accurate depth sensing and positioning.
• Lidar-Based Navigation: Avoids obstacles during movement using RPLidar data.
• Autonomous Pick and Place: Capable of identifying ripe tomatoes and performing pick-and-place tasks.
• Simulated Environment: A fully simulated greenhouse environment for testing.

Installation

Prerequisites

Ensure the following dependencies are installed:

• ROS Noetic

• rosdep

  sudo rosdep init
  rosdep update
  cd ROS-agri-robot-harvester
  rosdep install --from-paths src --ignore-src -r -y
  

• moveit package

  sudo apt-get install ros-noetic-moveit-resources-prbt-moveit-config
  sudo apt-get install ros-noetic-moveit
  

Steps

1. Clone the repository:

git clone https://github.com/S-Sidharthan/ROS-agri-robot-harvester.git

2. Build the project:

cd ROS-agri-robot-harvester
catkin_make

3. Source the workspace:

source devel/setup.bash

Usage

Start Agri-Bot To launch the Agri-Bot in the greenhouse environment:

Wall Following

roslaunch ebot_gazebo wall_follow.launch

Pick and Place

roslaunch ebot_gazebo pick_and_place.launch

Detect Ripe tomatoes

roslaunch ebot_gazebo nav_pick_and_place.launch

Images

Figure 1: Agri-Bot in gazebo environment.

Figure 2: Ripe Tomatoes detection.

Video Demo

Watch a demo of the robot in action on YouTube:

https://www.youtube.com/watch?v=iV6wcWm2Lak

https://www.youtube.com/watch?v=Go9n7JF8ANU&ab

Contributing

Contributions are welcome! Open issues or submit pull requests to improve the project.