HoverMower meets OpenMower with robot_localization

After fixing issues with BNO085 IMU, I was able to successfully implement OpenMower ROS package to my HoverMower project.
For localization, I use robot_localization node in dual EKF setup together with navsat_transform node.
In Video title it states that I'm using TEB, which wasn't actually true. It was configured and running, but not used by navigation_stack. What you see here is the FTCPlanner of OpenMower project for local planning.
Now I'm really happy to get things up and running. Thanks to OpenMower project, which provides a good and working behavior tree as well as providing us with the slic3r_coverage_planner package.
www.hovermower.github.io
github.com/ClemensElflein/Ope...
Discord channel / discord

[@lacinadev]

Much better than before. 👍

[@henrik9596]

Have you tested how long runtime/ battery life that your getting with the setup? I am interested in building a simular mower just without the cam. Also looking at REP_al 3d printed mower with the docking charger

[@patrickweber83]

I use the battery which comes with hoverboard. I didn't test but I was able to operate 1h without issue and battery wasn't empty.

[@patrickweber83]

My project consists of independent parts. HoverMower describes the chassis and Hoverboard parts. It is up to you to add any electronics and software you like. Ardumower, Liam, Rep_Al or ROS like I do, it's up to you.
ROSMower is my attemp to build software stack based on ROS and related electronic. ROSMower should also work with other ROS enabled robots and in my case, it controls a HoverMower ;-)
So it is up to you to use stereo cameras, RTK-GPS or just simple random behaviour with perimeter and bumper only

[@xxeon96]

I am so interesting in your project how to connect you

[@patrickweber83]

I recently created a discord channel and added a link in video description.