OutdoorNav API Examples

Welcome to the Clearpath Robotics OutdoorNav examples repository! These examples outline how to use the API to define and execute missions.

Building the Examples

Use the steps below to download and build the examples. This can be performed directly on the target robot or on a separate computer with ROS Noetic installed.

mkdir -p ~/outdoornav_ws/src
cd ~/outdoornav_ws
catkin_init_workspace src
cd src
git clone https://github.com/cpr-application/clearpath_onav_examples.git cpr_outdoornav
cd ~/outdoornav_ws
rosdep update
rosdep install -y --from-paths src --ignore-src -r
catkin_make

Running the First Example

The commands below outline how to run one of the example programs when the examples have been downloaded and built on the target robot directly. The remaining examples can be run in a similar manner. If the examples have been downloaded and built on a remote computer, following the instructions at this tutorial to have the remote computer point to the ROS Master on the target robot.

source ~/outdoornav_ws/devel/setup.bash
rosrun clearpath_onav_api_examples simple_mission_1

Running an Inspection Example

The commands below outline how to run an example program that represents a simple inspection mission in the Ag World in which the robot drives between rows of solar panels and collects inspection data at a few key points along the route.

source ~/outdoornav_ws/devel/setup.bash
rosrun clearpath_onav_api_examples inspection_mission_1

The time to run the mission will depend on the speed of your simulation, but will normally be in the range of 5-20 minutes, depending on the compute power of the node running the simulation. The console output should be similar to:

$ rosrun clearpath_onav_api_examples inspection_mission_1
[INFO] [1674669519.255228, 234.054000]: Solar Panel ID: 26.000000 Status: Operating normally
[INFO] [1674669708.237271, 272.053000]: Solar Panel ID: 21.000000 Status: Fault detected
Mission completed successfully

If the UI is open while the mission is running, you should see something similar to the following sequence of images. Note how the robot navigates between two rows of solar panels and stops at two specific panels (one near the midpoint and one near the end of the row) to allow an inspection to be performed.

Running an Area Coverage Example

The commands below outline how to run an example program that represents a simple area coverage mission in the Ag World in which the user defines a bounding region and then the robot drives back and forth to ensure that the simulated scanner provides coverage of the entire area.

source ~/outdoornav_ws/devel/setup.bash
rosrun clearpath_onav_api_examples simple_area_coverage

The time to run the mission will depend on the speed of your simulation, but will normally be in the range of 5-20 minutes, depending on the compute power of the node running the simulation. The console output should be similar to:

``` $ rosrun clearpath_onav_api_examples simple_area_coverage [INFO] [1675994738.888331, 45.537000]: Computing waypoints for (-65.134179, -0.264033), (-65.134179, 14.735967), (-25.134179, 14.735967), (-25.134179, -0.264033) [INFO] [1675996427.370797, 260.487000]: Adding result: 99 at (50.109474, -97.319886) [INFO] [1675996477.491238, 271.487000]: Adding result: 92 at (50.109458, -97.319889) … Mission completed successfully. Scanner hits: Scanner reading 99 at Lat: 50.109474 Lon: -97.319886

File truncated at 100 lines see the full file