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This repository contains an old version of the virtual_maize_field package. For the maintained package, see FieldRobotEvent/virtual_maize_field.

Virtual Maize Field

Code style: black contributions welcome License: GPL v3

This is a package to procedurally generate randomized fields with rows of plants for Gazebo.

Screenshot of a generated map with maize plants and pumpkins

Installation

This package has been tested on ROS melodic and ROS noetic.

Additional you'll need the following packages:

# melodic
rosdep install virtual_maize_field
sudo apt install python3-pip
sudo pip3 install -U jinja2 rospkg opencv-python matplotlib shapely

# noetic
rosdep install virtual_maize_field

Generating new maize field worlds

This package includes a script (scripts/generate_world.py) that can generate randomized agricultural worlds. All parameters are optional and have default values. You can call the script using

rosrun virtual_maize_field generate_world.py

The resulting file will be placed in worlds/generated.world.

usage: generate_world.py [-h] [--row_length ROW_LENGTH] [--rows_curve_budget ROWS_CURVE_BUDGET] [--row_width ROW_WIDTH] [--rows_left ROWS_LEFT] [--rows_right ROWS_RIGHT] [--row_segments ROW_SEGMENTS]
                         [--row_segment_straight_length_min ROW_SEGMENT_STRAIGHT_LENGTH_MIN] [--row_segment_straight_length_max ROW_SEGMENT_STRAIGHT_LENGTH_MAX]
                         [--row_segment_curved_radius_min ROW_SEGMENT_CURVED_RADIUS_MIN] [--row_segment_curved_radius_max ROW_SEGMENT_CURVED_RADIUS_MAX]
                         [--row_segment_curved_arc_measure_min ROW_SEGMENT_CURVED_ARC_MEASURE_MIN] [--row_segment_curved_arc_measure_max ROW_SEGMENT_CURVED_ARC_MEASURE_MAX]
                         [--row_segment_island_radius_min ROW_SEGMENT_ISLAND_RADIUS_MIN] [--row_segment_island_radius_max ROW_SEGMENT_ISLAND_RADIUS_MAX] [--ground_resolution GROUND_RESOLUTION]
                         [--ground_elevation_max GROUND_ELEVATION_MAX] [--ground_headland GROUND_HEADLAND] [--ground_ditch_depth GROUND_DITCH_DEPTH] [--plant_spacing_min PLANT_SPACING_MIN]
                         [--plant_spacing_max PLANT_SPACING_MAX] [--plant_height_min PLANT_HEIGHT_MIN] [--plant_height_max PLANT_HEIGHT_MAX] [--plant_radius PLANT_RADIUS]
                         [--plant_radius_noise PLANT_RADIUS_NOISE] [--plant_placement_error_max PLANT_PLACEMENT_ERROR_MAX] [--plant_mass PLANT_MASS] [--hole_prob HOLE_PROB] [--hole_size_max HOLE_SIZE_MAX]
                         [--crop_types CROP_TYPES] [--litters LITTERS] [--litter_types LITTER_TYPES] [--weeds WEEDS] [--weed_types WEED_TYPES] [--ghost_objects GHOST_OBJECTS] [--location_markers LOCATION_MARKERS] [--load_from_file LOAD_FROM_FILE]
                         [--seed SEED]

Generate a virtual maize field world for gazebo

optional arguments:
  -h, --help            show this help message and exit
  --row_length ROW_LENGTH
                        default_value: 12.0
  --rows_curve_budget ROWS_CURVE_BUDGET
                        default_value: 1.5707963267948966
  --row_width ROW_WIDTH
                        default_value: 0.75
  --rows_left ROWS_LEFT
                        default_value: 2
  --rows_right ROWS_RIGHT
                        default_value: 2
  --row_segments ROW_SEGMENTS
                        default_value: straight,curved
  --row_segment_straight_length_min ROW_SEGMENT_STRAIGHT_LENGTH_MIN
                        default_value: 1
  --row_segment_straight_length_max ROW_SEGMENT_STRAIGHT_LENGTH_MAX
                        default_value: 2.5
  --row_segment_curved_radius_min ROW_SEGMENT_CURVED_RADIUS_MIN
                        default_value: 3.0
  --row_segment_curved_radius_max ROW_SEGMENT_CURVED_RADIUS_MAX
                        default_value: 10.0
  --row_segment_curved_arc_measure_min ROW_SEGMENT_CURVED_ARC_MEASURE_MIN
                        default_value: 0.3
  --row_segment_curved_arc_measure_max ROW_SEGMENT_CURVED_ARC_MEASURE_MAX
                        default_value: 1.0
  --row_segment_island_radius_min ROW_SEGMENT_ISLAND_RADIUS_MIN
                        default_value: 1.0
  --row_segment_island_radius_max ROW_SEGMENT_ISLAND_RADIUS_MAX
                        default_value: 3.0
  --ground_resolution GROUND_RESOLUTION
                        default_value: 0.02
  --ground_elevation_max GROUND_ELEVATION_MAX
                        default_value: 0.2
  --ground_headland GROUND_HEADLAND
                        default_value: 2.0
  --ground_ditch_depth GROUND_DITCH_DEPTH
                        default_value: 0.3
  --plant_spacing_min PLANT_SPACING_MIN
                        default_value: 0.13
  --plant_spacing_max PLANT_SPACING_MAX
                        default_value: 0.19
  --plant_height_min PLANT_HEIGHT_MIN
                        default_value: 0.3
  --plant_height_max PLANT_HEIGHT_MAX
                        default_value: 0.6
  --plant_radius PLANT_RADIUS
                        default_value: 0.3
  --plant_radius_noise PLANT_RADIUS_NOISE
                        default_value: 0.05
  --plant_placement_error_max PLANT_PLACEMENT_ERROR_MAX
                        default_value: 0.02
  --plant_mass PLANT_MASS
                        default_value: 0.3
  --hole_prob HOLE_PROB
                        default_value: 0.0
  --hole_size_max HOLE_SIZE_MAX
                        default_value: 7
  --crop_types CROP_TYPES
                        default_value: maize_01,maize_02
  --litters LITTERS     default_value: 0
  --litter_types LITTER_TYPES
                        default_value: ale,beer,coke_can,retro_pepsi_can
  --weeds WEEDS         default_value: 0
  --weed_types WEED_TYPES
                        default_value: nettle,unknown_weed
  --ghost_objects GHOST_OBJECTS
                        default_value: False
  --location_markers LOCATION_MARKERS
			default_value: False
  --load_from_file LOAD_FROM_FILE
                        default_value: None
  --seed SEED           default_value: -1

Sample Worlds

In the script folder, bash files to generate sample worlds are located. The parameters are chosen to match the task description from https://www.fieldrobot.com/event/index.php/contest/

Name Parameters Description
create_task_1.sh --row_length 10 --rows_left 0 --rows_right 11 --rows_curve_budget 0.78539816339 --row_segments straight,curved --row_segment_curved_radius_min 4.0 --row_segment_curved_radius_max 5.0 Task 1, curved rows without holes
create_task_1_mini.sh --row_length 5 --rows_left 0 --rows_right 5 --rows_curve_budget 0.78539816339 --row_segments straight,curved --row_segment_curved_radius_min 4.0 --row_segment_curved_radius_max 5.0 A smaller version of task 1, requiring less computer power
create_task_2.sh --row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --hole_size_max 7 Task 2, straight rows with holes
create_task_2_mini.sh --row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --hole_size_max 7 A smaller version of task 2, requiring less computer power
create_task_3.sh --row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5 --ghost_objects true --location_markers true Task 3, similar crop rows as in task_2 but with cans, bottles and weeds spread throughout the field. The cans, bottles and weeds have no collision box and are static.
create_task_3_mini.sh --row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5 --ghost_objects true --location_markers true A smaller version of task 3, requiring less computer power
create_task_4.sh --row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5 --location_markers true Task 4, similar crop rows as in task_2 but with cans, bottles and weeds spread throughout the field. The cans, bottles and weeds have a collision box and can be picked up.
create_task_4_mini.sh --row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5 --location_markers true A smaller version of task 4, requiring less computer power

Launching worlds

The launch file to launch the worlds is called simulation.launch. You can launch the launch file by running roslaunch virtual_maize_field jackal_simulation.launch. By default the launch file will launch generated_world.world. You can launch any world by using the world_name arg. e.g. roslaunch virtual_maize_field jackal_simulation.launch world_name:=simple_row_level_1.world.

License

Virtual Maize Field is copyright (C) 2021 Farm Technology Group of Wageningen University & Research and Kamaro Engineering e.V. and licensed under License: GPL v3.

Models

Name Path Copyright License
Maize 01 models/maize_01/ 2021 Kamaro Engineering e.V. License: CC BY-SA 4.0
Maize 02 models/maize_02/ 2021 Kamaro Engineering e.V. License: CC BY-SA 4.0
Stone 01 models/stone_01/ 2020 Andrea Spognetta License: CC BY-NC 4.0
Stone 02 models/stone_02/ 2014 Sascha Henrichs License: CC BY 4.0
Ale models/ale/ 2017 elouisetrewartha License: CC BY-NC 4.0
Beer models/beer/ ? Maurice Fallon ?
Coke Can models/coke_can/ ? John Hsu ?
Nettle models/nettle/ 2019 LadyIReyna License: CC BY-NC 4.0
Retro Pepsi Can models/retro_pepsi_can/ 2018 FWTeastwood License: CC BY 4.0
Unknown Weed models/unknown_weed/ 2016 aaron_nerlich License: CC BY 4.0

Textures

Name Path Copyright License
grass Media/models/materials/textures/ 2018 CC0Textures.com License: CC0-1.0