We have experience with the ROS navigation stack and with Navigation 2. Together with some developers of robots for agriculture we are looking into the precision navigation in the open fields. Experiments with RTK GPS showed that the precision was not enough. Moreover, the typical 2D lidar based approaches do not work in the fields. Eventually, the robots must be able to navigate over small (visible) tracks in the fields.
The robots we are looking at have 3D camera’s and 2D lidars. I saw the frameworks from automotive sector, such as Autoware and NVIDIA DRIVE, that have nice processing of such data. Therefore, I was wondering if it would be a good idea to integrate functionality from such frameworks for navigation in agriculture.
Do others have experience with precision navigation in open fields and want to share their experiences with us?