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From YouTube: Open Source Robotic Tractor - ROS Team
Description
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A
B
C
A
C
D
C
C
Implemented
in
some
cases
used
in
factory
floors,
which
is
not
incredibly
common,
you
don't
usually
use
a
planner
in
a
manufacturing
environment.
You
would
typically
plan
for
the
arm
to
move
to
exact
locations
and
in
enjoying
space
or
in
Cartesian
space,
and
that's
because
you're
afraid
it
would
collide
with
the
environment.
A
A
C
E
So
a
couple
things
real,
quick,
so
I
know
Matt
through
he
work
together
and
thought
on
the
solution
it
saw
for
several
years.
I
actually
was
one
of
the
first
developers
on
his
project
where
our
orchard
vineyard,
and
so
we
did
a
lot
of
stuff
together
regarding
orchard
vineyard
application,
so
I
kind
of
caught
up
with
Matt.
E
We
actually
also
both
went
to
Ross
con
together,
and
we
were
kind
of
talking
about
this
for
some
time
before
that
and
then
very
got
a
little
more
in
depth
about
it
anyway,
at
Ross
Cana
with
a
question,
I
met
a
company
there's
a
robotics
company
there
that
makes
the
turtle
BOTS
the
new
turtle,
BOTS
and
hey
Hannah
I
forget
have
all
my
paperwork
here,
but
they
had
like
an
open
source
arm
Wow
hard
way.
I
can't
remember
the
name,
but
anyway.
E
But
you
know
it's
it's
cheaper
than
a
did.
You
say
you
work
for
a
rethink
cheaper
than
everything
anyway,
I
also
I
I've,
been
in
mobility,
did
work
for
l3
amman
systems
like
I
mentioned
network
for
autonomous
solutions,
but
now
I'm
more
in
the
material
handling
space,
so
I
work
for
intelligent
were
part
of
Honeywell
now
and
I
do
a
lot
more
stuff
with
arms
and
actually
I
was
gonna
mention
the
in
the
world.
Move
at
Day
is
coming
up,
so
we're
actually
thinking
about
participating,
Oh,
awesome,
yeah,
yeah,.
A
E
B
B
B
A
D
A
A
G
A
We
can
share
the
document.
We
were
working
on
last
time
here,
so
the
notes
that
we
have
so
far
from
last
week
and
this
document
is
openly
editable.
So
if
you
click
and
clicking
on
this,
it's
a
Google
Doc,
where
we
just
showed
components:
arduino
with
RC
shield,
raspberry
pi,
to
solenoids,
to
hydraulic
tract
motors
for
skid,
steering
the
way
that
the
the
tractor
looks
right
now,
I,
don't
know
if
any
of
you
have
seen
it.
B
A
A
A
So
where
do
we
go
from
here
people?
So
as
far
as
the
work
on
our
side?
Right
now,
we
are
pretty
much
finalizing
the
CAD
work,
we're
actually
putting
a
bobcat
quick,
attach
plate
on
the
front
of
this
little
tractor
and
doing
the
the
final,
a
CAD
work
in
detail.
Now
the
hydraulic
system
is
somewhat
independent
from
that
in
a
way,
and
we
basically
treat
everything
as
a
module.
So
all
these
things
can
be
developed
in
parallel,
but
in
the
simplest
instance
we
would
drive
this.
You
know
like
for
initial
testing.
A
A
Let's
see
and
we've
got,
let's
see,
I
guess
that
we
have
haven't:
looked
I,
just
I'm,
just
looking
at
this
for
the
first
time,
but
basically
we
would
have
an
RC
module
I'm,
not
really
seeing
where
the
RC
is
in
this
diagram
here,
unless
those
yeah
can
anyone
tell
where
the
RC
is
on
this
I?
Don't
see
it?
Let's
see
gotcha!
That's
not
here.
A
So
this
doesn't
have
it
so
we
would
have
to
put
on
a
Wi-Fi
shield
on
a
Arduino
if
this
is
yeah.
I
guess
this
could
be
like
if
we're
not
seeing
the
remote
control
part
like.
If
this
is
the
receiving
thing
with
a
with
a
Wi-Fi
shield,
then
this
could
work
but
I
guess
it's
halfway
done
of
the
ascending.
F
G
A
A
A
Those
would
be,
let's
say,
independent
modules,
but
II
I'm,
not
clear
about
okay
use
beagle
blow
beagle
bone
or,
however,
we
go
from
the
raspberry
part
from
the
GPS
part.
The
the
notion
we
had
last
time
was
that
we
are
going
to
interact
with
the
Arduino
either
with
the
RC
controller
or
the
Raspberry
Pi.
A
A
Arduino
RC
module,
so
that's
gonna
get
made,
so
maybe
we
should.
We
should
say
that
what
is
the
route
like,
maybe
focus
on
not
necessarily
repeating
the
the
RC
controller
may
be
taken
in
module
II.
So
we
say
we
got
the
Canarsie
control
just
just
by
itself.
Okay,
that's
all
right,
but
I
was
thinking,
maybe
the
Raspberry
Pi
or
whatever
else
we
do
regarding
the
GPS
aspect.
So
the
aspect
of
handling
GPS
signals
and
and
running
an
autonomous
program
on
a
Raspberry
Pi
with
GPS
attached
to
it.
A
So
GPS
GPS
module.
What's
what's
the
absolute
simplest
way
to
do
it
and
when
I,
when
I
thought
about
GPS
module
can
even
Arduino
do
it
with
a
simple
GPS
module?
Would
that
even
be
an
option
or
because
we
want
I
mean
we
want
to
basically
do
things
as
simple
as
possible
to
do
the
most
basic
item
like
a
very,
very
simple
Arduino,
with
remote
controller
that
gets
you,
the
the
remote
control
part
like
basically
driving
a
a
toy
except
this
is
not
really
a
toy
the
GPS
module.
A
E
E
A
So
the
idea
is,
you
have
a
field
and
by
GPS
you're,
saying
you're,
running
an
autonomous
program
that
says,
move
this
tractor
back
and
forth
in
very
slow
motion
using
the
solar
panel.
So
it
will
be
a
solar
tractor
where
we
have
a
small
hydraulic
power
cube.
That's
running
a
300
watt
panel,
which,
as
I
mentioned,
it
will
take
you
about
about
a
thousand
feet
in
a
day.
So
you've
got
slow
motion
around
a
field
dragging
a
tractor,
a
chicken
tractor
and
you're
moving
back
and
forth
on
it.
A
E
H
E
G
A
E
A
G
A
I
mean
you
wanna
yeah
I
mean
you
could
do
no
I,
don't
think
encoders
would
work
forever,
because
you're
gonna
get
error.
I
mean
you
can
know
which
direction
you're
moving.
But
if
you're
on
a
slope-
or
you
know
you're
in
mud
or
something,
then
the
motion
will
be
different.
You
gotta,
you
gotta,
have
some
feedback.
B
A
Now
vision
is
a
harder
story
to
implement,
so
we've
got
soso
I
mean
right
now.
We're
trying
to
get
this
within
the
two-week
period
is
something
that's
implementable
that
we
can
actually
run.
That's
why
we
just
said:
okay,
let's
do
GPS
is
a
simple
system,
because
vision
would
be
a
little
more
complicated
unless
what
you
guys
can
pull
it
off.
E
C
E
A
E
A
E
A
G
G
A
A
F
A
A
What
pages
that
gonna
be
or
more
like
seven
page
seven
is
the
hydraulic
motor.
It's
got
a
it's
a
that's
how
it
looks.
It's
got
a
sprocket,
that's
bolted
on
to
this
kind
of
a
wheel,
mounting
plate
kind
of
thing
and
we
could
add
an
encoder
somewhere
like
like
there,
but
it
does
require
mechanical
integration.
A
A
There's
gonna
be
a
mounting
plate.
That's
gonna,
be
this
thing
that
I'm
drawing
in
there.
That's
in
blue
we're
gonna,
somehow
mount
this
to
the
rest
of
the
frame
with
a
mounting
plate.
That
looks
like
that.
So
if
we
could
mount
something
like
on
this
back
surface
of
this
hub
here,
that's
that's
doable
or
something
around
the
hub,
but
yeah.
That's
that's!
That's
how
we
could
do
it
now.
A
I
mean
that
gets
to
be
more
complex
than
yeah,
like
I'm,
not
sure
I
would
suggest
it
as
phase
one,
because
if
we
could
get
away
with
with
gps's
phase
one
and
do
some
basic
experiments
with
that,
we
can
add
this,
but
I
think
for
a
four-day
build
that
might
be
pushing
it
unless,
unless
we're
like,
we've
got
enough
people
there,
which
leads
me
to
say
I,
know
that
Matt's
gone
to
the
to
the
event
itself,
but
any
or
any
of
you.
Other
people
are
going
as
well.
E
E
A
E
E
C
A
Six
Oh
your
way
all
the
way
up
there:
okay,
I'm
gonna,
move
that
up
to
page
page
three
I
didn't
see
you
working
there:
okay,
okay,
let's
see
so
that's
a
more
advanced
version
of
of
GPS.
It's
got
GPS
and
what
else?
B
B
A
E
A
E
B
A
F
A
G
Gotta
find
that
sweet
spot
I
think
you
know
if
we
can
get
some
meter
for
a
couple
hundred
bucks.
That's
that's
nice,
I,
don't
know
if
we
didn't
try
some
of
those
$50
GPSS
and
see
how
well
they
do
if
we're
not
concerned
about
day
to
day
so
a
couple
times
in
GPS
there's
a
day
to
day
and
there's
passed
a
pass.
So
if
you
just
go
up
and
down
the
field,
you're
gonna
get
a
different
measurement
versus.
If
you
go
there
the
very
next
day
and
run
so.
B
E
G
A
B
A
E
A
E
A
B
E
D
D
A
A
G
G
A
F
A
G
G
E
E
Looks
like
we
could
change
looking
at
it.
Well,
we
could
probably
change
all
the
some
of
the
properties
to
make
it
more
in
line
with
our
we
don't
exactly
have
to
I
would
think
we'd
have
to
take
the
krita,
your
Jeff
for
it,
but
we
could
probably
take
the
Husky
and
modify
it
such
that
it's
similar
to
our
setup
might
be
quicker.
E
E
A
A
Were
these
five
foot
contour
ten-foot
contours,
but
the
land
that
we're
talking
about
is
in
this
this
area.
If
you
see
my
cursor
is
basically
between
the
two,
not
this
thing
with
the
lines,
but
those
are
like
of
actual
plant
outs
of
hazelnuts
and
chestnuts,
but
this
area,
which
is
fifty
feet
wide
between
the
two
tree
lines.
It's
fifty
feet
wide
and
about
a
thousand
feet
long.
This
is
what
what
it
actually
is
and.
A
A
A
G
G
Sorry,
I
expected?
What
were
you
saying?
Is
there
a
way
to
like
break
up
some
of
the
work?
If
yeah
and
I
don't
know?
If
you
want
want
to
play
with
this
or
if
you
want
want
to
want
to
do
any
portion,
but
definitely
the
option
is
there?
It
doesn't.
You
know
if
you
want
to
make
the
model
of
it
and
that's
cool
or
if
you
want
to
play
around
but
I
didn't
know.
If
there's
some
way
to
you
know
break
the
part,
none
of
pieces.
G
Are
you
talking
about
yeah
I?
Think
if
we
can
get
the
simulator
running
around
with
a
software?
That's
a
pretty
good
step
for
all.
Robotics
has
a
great
tutorial
using
Arase
Ross
in
the
gazebo
simulator,
and
once
you
get
all
of
that
software
working
I,
guess
I,
though
it's
a
pretty
easy
step,
not
totally
painless,
but
definitely
less
pain
are.
E
E
G
Okay,
so
if
we
don't
I
was
gonna,
ask
what
encoder
we
get
I
mean.
What
I
am
you
to
use?
If
we
don't
use
that
Navi?
Oh,
we
just
get
the
GPS
and
then
use
Raspberry
Pi.
E
G
E
G
E
G
E
E
A
E
C
A
E
G
A
G
G
C
F
A
A
C
H
C
C
B
A
C
A
A
D
A
Yes,
so
if
you
look
at
my
screen,
so
you
see
this
is
when
you,
google
factory
farm,
which
is
our
farm.
Our
farm.
Is
this
place
between
this
long
square
like
right
here
where
the
marker
is,
and
the
area
of
interest
is
where
my
cursor
is
right:
there
that
that's
about
a
thousand
feet
long
there
and
about
50
feet
wide
between
those
two
two
tree
lines:
yeah.
So
that's
what
we
have
to
work
with.
I'll
put
that
in.
E
C
C
A
C
A
Yeah
well
yeah,
that's
the
house
that
we
don't
want
to
crash
in
with
the
tractor.
That's
on
the
north
part
of
the
that's
the
north
limit
of
where
we're
gonna
go.
That's
not
on
a
Google
Maps!
Yet
I
guess
the
the
Google
map
I
showed
I
pulled
up
just
before
that
structure
right
there
is
not
shown
yet
it's
it's
up
at
the
north
west
corner
now
by
that
curve
in
the
road.
A
G
A
C
C
E
G
A
A
A
A
E
E
A
E
A
G
A
A
A
E
A
A
But
if
you
want
to
use
that
task
allocation
board,
that's
is
that
scrummy
there
we're
talking
about
yeah,
you
feel
free
to
put
it
up
there.
It's
freely
editable,
but
I
think
people
have
been
lacs
about
putting
in
tasks,
but
yeah
they'll
be
useful.
If
we
want
to
do
that,
yeah,
that's
that's
an
active
chart.
You
can
just
go
in
there
and
add
stories
and
drag
them
up
and
down.
So
so
right
now.
Maybe
so,
let's
see
so
en.
For
example,
you
can
add
that
and
say
simulations.
A
Yeah
so
yeah
as
soon
as
you
got,
you
know
if
you
want
to
Matt,
maybe
just
email
me
like
what
would
you
decide
on
and
we
can
take
a
look
at
that
yeah,
that's
pretty
much
like
maybe
set
up
in
this
working
document.
You
know,
maybe
start
a
page
that
says:
okay,
this
is
our
choice
of
hardware
and
everything.
I
guess,
if
you
guys
are
yeah,
if
you
guys
are
bringing
it
or
I
mean
how
are
we
doing
that
or
I
mean?
Let
me
know
what
I
need
to
buy
stuff.
A
A
G
A
G
G
A
A
G
A
G
D
G
A
G
E
A
Right
all
right
well!
Well,
then
that
sounds
good.
If
no
more
questions,
then
we
can
take
it
again.
Then
next
week
the
same
time
a
p.m.
and
maybe
we
could
do
if
you
can
advertise,
maybe
just
meet
that
see:
/
open
source,
ecology,
that's
usual,
okay,
alright
guys!
Well
thanks!
So
much
thanks
for
the
help
and
all
this
will
be
really
good.
I
think
that'll
be
a
great
thing.
I'm
gonna
be.