Project G: Farming Simulator

Team Members

• Ardigò Susanna
• Copa Alan
• Perugini Andrea

Overview

This project implements a robotic system ("Farming Simulator") where a RoboMaster EP robot autonomously identifies, navigates to, grasps, and stores colored spheres. The system uses ROS 2 for control and OpenCV for vision processing within a CoppeliaSim simulated environment.

Prerequisites (First-Time Setup)

1. Build the ROS 2 Workspace:
   • Navigate to the root of your ROS 2 workspace directory in a terminal.
   • Run the following command once to build the packages:

     colcon build --symlink-install

Instructions to Run

1. Start CoppeliaSim & Load Scene:

   • Open a terminal and run:

     pixi run coppelia

   • In CoppeliaSim:
     • Load the scene file: src/robomaster_example/scenes/world.ttt
     • Ensure Real-Time mode is enabled.
     • Click the Play button to start the simulation.

2. Launch the ROS 2 Controller:

   • Open a new (separate) terminal.
   • Source your workspace: Before running the launch command, you need to source your ROS 2 workspace setup file. (Assuming your shell is Zsh; adjust for Bash if needed.)

     source install/setup.zsh

   • Run the controller launch file:

     ros2 launch robomaster_example controller.launch

The robot should now begin its operation cycle: moving to home, scanning for spheres, selecting the "ripest" red one, navigating, grasping, and storing it.