Agri-OpenCore released its core software as open source. Everything below is public on GitHub in the LCAS organisation and free to use under the licence shown. Start with the containers and templates, then add the components you need.
Get started
- Try topological navigation in your browser with no installation: see the Topological Navigation page.
- Build on the containers: the AOC container base provides ROS 2 images for CPU, CUDA and browser desktop use.
- Start a new package from the ROS 2 package template, or a new farm environment from the environment template.
- See a whole system: the harvesting scenario shows how a scenario brings a platform, an environment and the stacks together in simulation.
- Read the Architecture Overview to see how scenarios, platforms, environments and stacks fit together.
Open components
| Component | What it does | Licence |
|---|---|---|
| Containers and templates | ||
| aoc_container_base | ROS 2 Humble and Jazzy Docker images, with CUDA and browser desktop variants | Apache-2.0 |
| ros2_pkg_template | Template for ROS 2 packages with CI and CPU or GPU development containers | Apache-2.0 |
| environment_template | Template for describing farm environments, maps and generators | Apache-2.0 |
| Scenarios and platforms | ||
| aoc_scenario_base | Docker base image for AOC scenarios: ROS 2 Humble with CUDA, Nav2, Gazebo and source-built libraries | Apache-2.0 |
| aoc_scenario_template | Minimal AOC-compatible scenario: development container and a bringup package started with one launch command | Apache-2.0 |
| aoc_harvesting_scenario | Simulation-only strawberry harvesting scenario for a mobile manipulator, with interactable plants | Apache-2.0 |
| hunter_robot | Description and Gazebo model of the AgileX Hunter V2 (Ackermann steering) | Apache-2.0 |
| hunter_platform | Platform packages (description, bringup, Gazebo) for a Hunter-based robot | Apache-2.0 |
| mobile_manipulator_platform | Platform packages (description, bringup, Gazebo) for the mobile manipulator used in the harvesting scenario | Apache-2.0 |
| hunter_with_arm_robot | Simulation model of a mobile manipulator platform | Apache-2.0 |
| Navigation, safety and monitoring | ||
| topological_navigation | Graph-based navigation for robot fleets, with map tools, web app and simulator | Apache-2.0 |
| sentor | Runtime monitoring of topics and nodes with safety and autonomy heartbeats | Apache-2.0 |
| autonomy_metrics_logger | Logs autonomous distance, interventions and mean distance between interventions | Apache-2.0 |
| ros2_topic_monitor | Desktop tool to check topics are publishing, with a bag recorder | Apache-2.0 |
| Perception and human-robot interaction | ||
| aoc_fruit_detector | Strawberry and tomato detection, segmentation and 3D pose in ROS 2 | Apache-2.0 |
| aoc_hri_ros2_pkg | Human detection and tracking from cameras and LiDAR | Apache-2.0 |
| AGHRI-dataset-benchmark | Benchmarks for human detection, tracking and re-identification on AGHRI | Apache-2.0 |
| AGHRI-dataset-tools | Converters and ROS 2 bag tools for the AGHRI dataset | MIT |
| volumetric_viewpoint_planner | Plans camera viewpoints for a robot arm to scan plants | Apache-2.0 |
| Digital twins and simulation | ||
| aoc_tomato_farm | Random tomato farm and glasshouse generators for Gazebo and Unity | Apache-2.0 |
| Plant2SimDynamics | Dynamic strawberry plant models and a harvesting plugin for Gazebo | Apache-2.0 |
| aoc_packhouse_sim | Packhouse simulation with conveyors and people for safety testing | Apache-2.0 |
| Calibration | ||
| aoc_ros2_calib | LiDAR to camera calibration tool, adapted from ros2_calib by RWTH Aachen ika | MIT |
Data
The AGHRI dataset of people working around agricultural robots is described on the Datasets page.
What is not open
In line with the project’s aim of an open core that companies can build on, selected components were kept for targeted commercial exploitation by the partners.
Using and citing
Please report issues and suggest improvements on each repository’s GitHub page. If you use AOC software in research, cite the relevant paper from the Publications page.