Tractor Agriculture Simulator

Tractor

Tractor Specification

Specification	Value
Wheel base	1800 mm
Rear Wheel track	1545 mm
Front Wheel track	1280 mm
Rear wheel radius	500 mm
Front wheel radius	326 mm
King pin width	1500 mm
Max steering angle	30°
Max speed	15 km/h

Overview

Tractor Agriculture Simulator is a ROS 2-based simulation environment for agricultural robotics research and development forsensor fusion, SLAM, navigation, and virtual field generation to enable the testing and development of autonomous agricultural robots in realistic scenarios.

Branches

Branch	Description
main	Used to test module like control and perception
localization_test_bench	used to test different localization and odometry techniques with groundtruth odometery

Main Features

• Simulate tractors in virtual Agriculture fields with different crops type(Palm, Orange tree, Lemon tree).
• Sensor fusion using IMU and other sensors.
• 2D&3D SLAM with RTAB-Map.
• Teleoperation using Joystick.
• Customizable field/world generation.

Project Structure

• src/tractor_description/: Tractor robot model, URDF, meshes, and launch files.
• src/agri_robot_autonomous_pkg/: contian the launch files for the odometry and visual SLAM.
• src/imu_tools/: IMU filters and sensor fusion nodes.
• src/rtabmap_ros/: RTAB-Map SLAM integration and demos.
• src/Simulation_Agriculture_Field_Generator/: Virtual field/world generator.

Installation

1. Install ROS 2 (Jazzy recommended)
2. Clone this repository
3. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace for multi camera support:

   colcon build --symlink-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -DCMAKE_BUILD_TYPE=Release

5. Source the workspace:

   source install/setup.bash

Usage

Generate a Virtual Field

ros2 launch virtual_maize_field simulation.launch.py

• To select a specific world:

    ros2 run virtual_maize_field generate_world --crop_type natroon_palm --plant_spacing_min 7.0 --plant_spacing_max 7.1 --row_width 10.0 --row_segments straight --ground_resolution 0.5 --hole_size 0 --hole_prob 0 --ground_ditch_depth 0.0001 --ground_elevation_max 0.0001 --rows_count 3 --ground_headland 10

• copy

  cp ~/.ros/virtual_maize_field/generated.world ~/tractor_agri_simulator/src/tractor_description/world/
  

Launching the Tractor Simulator

source install/setup.bash
ros2 launch tractor_description gz_simulator_launch.py

Running visual mapping and visual odometery

source install/setup.bash
ros2 launch agri_robot_autonomous_pkg agri_robot_rgbd_scan_demo.launch.py localization:=false #ground_truth for removing the spawn shift from the ground truth odom

Teleoperation

source install/setup.bash
ros2 launch teleop_twist_joy teleop-launch.py

Customization

• Field Generation: Use the tools in Simulation_Agriculture_Field_Generator to create custom fields.
• Robot Models: Edit URDF and mesh files in tractor_description.
• SLAM: Modify parameters in the respective config files.

Sensors and Topics

Sensor List

Sensor Name	model	Type	Description	Usage
IMU	TD	IMU	Inertial Measurement Unit	fused with visual odometry
NavSat	TD	GNSS/GPS	Global Navigation Satellite System
Front RGB-D	ZED2i	Camera (RGB-D)	Front stereo camera	Used to obtain visual odometry and mapping
Left RGB-D	ZED2i	Camera (RGB-D)	Left stereo camera	Used to obtain visual odometry and mapping and used in object detection
right RGB-D	ZED2i	Camera (RGB-D)	right stereo camera	Used to obtain visual odometry and mapping and used in object detection
LIDAR	rplidar s2	2D LIDAR	Laser scanner	Fused with visual odometry to give better reading

Main ROS Topics

Topic Name	Message Type	Description
/imu	sensor_msgs/msg/Imu	IMU data
/navsat	sensor_msgs/msg/NavSatFix	GNSS/GPS data
/scan	sensor_msgs/msg/LaserScan	2D LIDAR scan
/front/rgb/image	sensor_msgs/msg/Image	Front RGB camera image
/front/depth/image	sensor_msgs/msg/Image	Front depth camera image
/front/rgb/camera_info	sensor_msgs/msg/CameraInfo	Front RGB camera info
/left/rgb/image	sensor_msgs/msg/Image	Left RGB camera image
/left/depth/image	sensor_msgs/msg/Image	Left depth camera image
/left/rgb/camera_info	sensor_msgs/msg/CameraInfo	Left RGB camera info
/right/rgb/image	sensor_msgs/msg/Image	Right RGB camera image
/right/depth/image	sensor_msgs/msg/Image	Right depth camera image
/right/rgb/camera_info	sensor_msgs/msg/CameraInfo	Right RGB camera info
/cmd_vel	geometry_msgs/msg/Twist	Velocity command
/tf	tf2_msgs/msg/TFMessage	Transforms
/odom	nav_msgs/msg/Odometry	Ground truth odometry (sim) with spawn shift
/clock	rosgraph_msgs/msg/Clock	Simulation clock

Note: Topic names may be remapped in launch/config files. See tractor_description/config/gz_bridge.yaml and launch files for details.

Contributing

Contributions are welcome! Please open issues and pull requests for bug fixes, new features, or documentation improvements.

Authors

• Ebrahim Abdelghafar ibrahim.abdelghafar@dakahlia.net

License

This project is licensed under the [TODO: License declaration].