The AOC tomato farm digital twin generates random tomato farms and glasshouses for robot simulation in ROS 2, in both Gazebo and Unity. Every plant is generated with random stems, leaves and fruit, so robots can be developed and tested against realistic variation before going into a real glasshouse.
Features
- Random tomato glasshouse generator for Gazebo (Gazebo Sim and Gazebo Classic), set up from a Jupyter notebook.
- Random tomato farm and glasshouse generators in Unity.
- Adjustable farm size, number of rows and plants, spacing, number of glasshouses and lighting.
- A ROS 2 simulator package to run the generated worlds in Gazebo, Unity or both at the same time.
See generated environments in this video.
Get it
Source code and step-by-step instructions are in the GitHub repository. Licence: Apache-2.0.
Citation
J. P. Espejel Flores, A. Yilmaz, L. A. Soriano Avendaño and G. Cielniak. Comparative Analysis of Unity and Gazebo Simulators for Digital Twins of Robotic Tomato Harvesting Scenarios. TAROS 2024. doi:10.1007/978-3-031-72059-8_2