Allow waypoints to define shape of rows in a field #352
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caused by epsilon error
| def _should_finish(self) -> bool: | ||
| end_pose = Pose(x=self.target.x, y=self.target.y, yaw=self.origin.direction(self.target), time=0) | ||
| return end_pose.relative_point(self.robot_locator.pose.point).x > 0 | ||
| return end_pose.relative_point(self.robot_locator.pose.point).x > -0.0001 |
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We should investigate why this failed for you
robot must follow a row, then user can pause the field navigation and set a waypoint -- also started with new waypoint driving but it's still a total mess
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rodja
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Aug 1, 2025
### Motivation When we started to implement #352 we once again noticed the limitations of our old navigation style that always just calculated the next step. We decided to convert our navigations into path planners, that use the RoSys driver's system of [PathSegments](https://github.com/zauberzeug/rosys/blob/main/rosys/driving/path_segment.py). ### Implementation I reimplemented the `Navigation` class as a waypoint navigation that generates the whole path beforehand. All other navigations extend from this. All specialized navigation types just have to implement their own `generate_path` method. The implementation is not fully polished yet, but we decided to get this merged now and fix any occurring issues later. This way other projects and issues (like #352) can already profit from these changes. ### Progress - [x] I chose a meaningful title that completes the sentence: "If applied, this PR will..." - [x] I chose meaningful labels (if GitHub allows me to so). - [x] The implementation is complete. - [x] Let the `AutomationWatcher` stop the automation, when the robot was moved when paused - [x] Rework implement blocking - [x] Wait for zauberzeug/rosys#314 - [x] FieldNavigation._is_allowed_to_start after path generation - [x] Fix strange turns when weeding in a curve - [x] Stop at last row - [x] Remove debugging code - [x] Tests with a real hardware have been successful (or are not necessary). - [x] StraightLineNavigation - [x] FieldNavigation - [x] ImplementDemoNavigation - [x] Pytests have been added (or are not necessary). - [x] Restructure navigation tests - [x] Waypoint Navigation tests - [x] Fix Field Navigation tests - [x] Documentation has been added (or is not necessary). ### Known issues I will create Github issues once it's merged, so I can link code directly - If a target plant is on the next segment, but the robot isn't yet due to the `work_x` offset, the plant will be skipped - When driving a curved spline, plant locations will change due to perspective changes. That's why already targeted plants, can already be behind the robot when the robot arrives on target. - Advancing a certain distance on a spline returns unprecise t values (Navigation:L209) --------- Co-authored-by: Rodja Trappe <rodja@zauberzeug.com>
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Motivation
Non-RTK planted rows might bend to much to simply follow them in a straight line. This PR introduces the capability to add waypoints within rows to approximate the shape more closely.
Implementation
This is work in progress. See Progress below.
Progress
Fieldclass intoFieldDescriptionandComputedFieldFieldProvidercan add multiple waypoints per rowWORK_Xvalues (see test_advance_when_target_behind_robot)