Quality assesment and Isobus to ROS2 communication

Table of Contents

• Overview
• Project Structure
• Installation
• Usage
  • Spraying Module
  • Weeding Module
• License

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Overview

This project is a robotic agricultural management system designed to facilitate tasks like spraying and weeding. It includes modules for CAN communication, ROS bridge integration, and GUI-based controls for managing robotic processes.

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Project Structure

├── LICENSE.md            # Licensing information
├── environment.yml       # Conda environment configuration
├── spraying              # Spraying module
│   ├── kinematics.py       # Kinematics logic for spraying
│   ├── kinematics_test.py  # Unit tests for spraying kinematics
│   └── trigger.py          # Trigger logic for spraying operations
├── weeding               # Weeding module
│   ├── bridge.py           # ROS-CAN bridge for weeding
│   ├── control.kv          # GUI layout for weeding control
│   ├── emergency_db_flash.py # Emergency flash system
│   ├── emergency_db_tim.py   # Emergency TIM messages
│   ├── emergency_raw.py      # Raw CAN message handling for emergencies
│   ├── ip.py                # IP retrieval for devices
│   ├── kinematics.py        # Kinematics logic for weeding
│   ├── q_dbc_to_fc.py       # DBC to functional components bridge
│   ├── q_raw_to_fc.py       # Raw message processing for functional components
│   └── trigger.py           # Trigger logic for weeding operations

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Installation

1. Clone the repository:

   git clone https://github.com/your-repo-url
   cd your-repo

2. Create a conda environment:

   conda env create -f environment.yml
   conda activate <your-environment-name>

3. Install any additional dependencies via pip if required.

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Usage

Spraying Module

• Kinematics: Handles spraying operations by interfacing with CAN bus and ROS topics.

  python spraying/kinematics.py

• Trigger: Sends trigger signals to initiate spraying.

  python spraying/trigger.py

Weeding Module

• Bridge: Connects ROS topics and CAN messages for real-time updates.

  python weeding/bridge.py

• Emergency Control:
  • emergency_db_flash.py manages emergency signals for flash.
  • emergency_db_tim.py manages TIM-based emergency messages.

  python weeding/emergency_db_flash.py
  python weeding/emergency_db_tim.py

• GUI: Launches the GUI for controlling weeding operations.

  python weeding/bridge.py

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License

This project is licensed under the MIT License. See LICENSE.md for more details.