Sowbot/Feldfreund — open-source ROS 2 ag-robot, just got multi-row mission following working in Gazebo(reddit.com)

We've been building Sowbot (aka the Feldfreund devkit), an open-source ROS 2 Jazzy stack for small-scale agricultural robotics: RTK-GNSS localisation (dual F9P moving base), LCAS topological navigation on top of Nav2, and a NiceGUI web cockpit for mission planning — draw the field corners, it generates row coverage via Fields2Cover. Just got multi-row mission following working end-to-end in Gazebo: the robot sequences entry/exit points across a full field of rows on its own, no manual nudge between rows. Video: https://www.youtube.com/watch?v=A0CVNcp19vU Just simulation for now, not a field result. It moves navigation and the sim step forward on our roadmap — hardware field validation is next, and we're not claiming a finished product. Stack, if useful to anyone: Two-SBC split — Limbic (ESP32 firmware, sensor fusion, localisation) and Neo (perception) ESP32 running https://lizard.dev/ Containerised via Docker, full build/sim modes Fields2Cover for coverage planning Visual crop-row following (ExG + Otsu threshold) as a Nav2 action server for in-row traversal Stock Nav2 (Regulated Pure Pursuit) for headland turns between rows Built on Zauberzeug's Field Friend as a base, developed with Agroecology Lab (UK) and caatingarobotics (Brazil) Apsitech (India) navigation stack from LCAS's Agri-OpenCore ecosystem. Fully open source. Repo: https://github.com/Agroecology-Lab/feldfreund_devkit_ros WIP Reference hardware: https://sowbot.co.uk Happy to answer questions on the nav stack, sim setup, or anything else. PRs or collaboration welcome if this is your area. submitted by /u/Sabrees [link] [Kommentare]