FarmHarvestBot Installation¶

Usage¶

Build

cd ~/catkin_ws/src
git clone https://github.com/FBTUG/farmharvestbot_base
cd ~/catkin_ws
catkin_make

Run

~/catkin_ws/src/farmharvestbot_base/10-basic/cli/launch$ roslaunch fhb.launch

fhb.launch setting

 <arg name="cli_enabled" default="false"/>
 <arg name="harvest_enabled" default="true"/>
 <arg name="model_enabled" default="true"/>
 <arg name="vision_enabled" default="true"/>
 <arg name="camera_enabled" default="false"/>
 <arg name="feature_detector_enabled" default="false"/>
 <arg name="arm_enabled" default="true"/>
 <arg name="fake_arm_enabled" default="false"/>
 <arg name="car_enabled" default="true"/>
 <arg name="sim_enabled" default="false"/>
 <arg name="test_enabled" default="false"/>
 <arg name="fsm_enabled" default="false"/>   

More information

CLI User Manual¶

 oroslaunch fhb.launch 
 SUMMARY
 ========

 PARAMETERS
  * /fhb_arm/mode: 0
  * /fhb_car/mode: 0
  * /fhb_cli/mode: 0
  * /fhb_harvest/mode: 0
  * /fhb_vision/mode: 0
  * /rosdistro: kinetic
  * /rosversion: 1.12.13

 NODES
   /
     fhb_arm (farmharvestbot_arm/arm_node.py)
     fhb_car (farmharvestbot_car/car_node.py)
     fhb_cli (farmharvestbot_cli/cli_node.py)
     fhb_harvest (farmharvestbot_harvest/harvest_node.py)
     fhb_vision (farmharvestbot_vision/vision_node.py)

 Base>help

 Documented commands (type help <topic>):
 ========================================
 arm  car  harvest  help  quit  sim  sys  test  version  vision

 Base>help sys
 sys sub command directory
 Base>sys
 Base:sys>help

 Documented commands (type help <topic>):
 ========================================
 actionclient  help  monitor_statistic  quit

 Base:sys>quit
 Base>harvest
 Base:harvest>help

 Documented commands (type help <topic>):
 ========================================
 help  quit

 Base:harvest>quit
 Base>vision
 Base:vision>help

 Documented commands (type help <topic>):
 ========================================
 help  quit

 Base:vision>quit
 Base>arm
 Base:arm>help

 Documented commands (type help <topic>):
 ========================================
 arm_setup  cmd_pos  help  quit

 Base:arm>quit
 Base>car
 Base:car>help

 Documented commands (type help <topic>):
 ========================================
 help  quit

 Base:car>quit
 Base>sim
 Base:sim>help

 Documented commands (type help <topic>):
 ========================================
 help  quit  sim_setup  sim_turtlesim_key

 Base:sim>quit
 Base>help

 Documented commands (type help <topic>):
 ========================================
 arm  car  harvest  help  quit  sim  sys  test  version  vision

 Base>sys

 Base:sys>actionclient
 [INFO] [1541468190.900285]: missing enable information, use default: 101 1 0 0 0.0 0.0 test
 [INFO] [1541468190.900671]: act_grp=harvest
 [INFO] [1541468191.028853]: harvest_act: Executing... Goal =
 act_id: 101
 act_subid: 1
 i1: 0
 i2: 0
 f1: 0.0
 f2: 0.0
 line: "test"
 [INFO] [1541468191.030214]: feedback: notice_id: 0
 progrsss: 0
 fb_msg: ''
 [INFO] [1541468192.033419]: feedback: notice_id: 0
 progrsss: 20
 fb_msg: ''
 [INFO] [1541468193.030142]: feedback: notice_id: 0
 progrsss: 40
 fb_msg: ''
 [INFO] [1541468194.030546]: feedback: notice_id: 0
 progrsss: 60
 fb_msg: ''
 [INFO] [1541468195.031611]: feedback: notice_id: 0
 progrsss: 80
 fb_msg: ''
 [INFO] [1541468196.030016]: harvest_act Succeeded :success
 [INFO] [1541468196.052794]: status: 3
 error_level: 0
 error_msg: "success"
 Base:sys>monitor_statistic
 [INFO] [1541468202.330091]: missing enable information, use default: 1
 [INFO] [1541468202.341122]: sys monitor statistic been setup!
 Base:sys>[INFO] [1541468202.569276]: cli_node:receive from /diagnostics: header: 
   seq: 87
   stamp: 
     secs: 1541468202
     nsecs: 568011045
   frame_id: ''
 status: 
   - 
     level: 0
     name: "fhb_vision: vision_statistic"
     message: "vision statistic"
     hardware_id: "vision"
     values: 
       - 
     key: "fruit_cnt"
     value: "87"

 Base:sys>quit
 Base>help

 Documented commands (type help <topic>):
 ========================================
 arm  car  harvest  help  quit  sim  sys  test  version  vision

 Base>version
 V0.0.5
 Base>quit