Hackday project to spray paint company logo on turf based on GPS waypoint navigation
Summer 2019 intern hack day project: turf painting robot
Demo: GPS Waypoint Navigation and a modified Husky are used to trace the Clearpath logo on the grass
All changes made to existing software for this project are listed below.
# echo 'SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="00[0-f][0-f]", MODE="0666", SYMLINK+="arduino arduino_$attr{serial}", GROUP="dialout",' > 97-arduino.rules
sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger
rosserial_python was installed on the Husky to communicate with the Arduino and relay board. The following lines were added to cpr_gps_navigation/cpr_gps_localization/launch/sensors.launch.
<node pkg="rosserial_python" type="serial_node.py" name="serial_node">
<param name="port" value="/dev/arduino"/>
<param name="baud" value="9600"/>
</node>
The paint_start and paint_stop services called at each goal point were added to cpr_gps_navigation/cpr_gps_tasks/scripts.
MissionServer::findClosestViapoint was disabled for this application.
- Temporarily disable painting while turning
- Extend image processing