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zauberzeug / field_friend

A Development Platform for Mechanical Weeding.
https://feldfreund.de
MIT License
9 stars 3 forks source link

Weeding Screw skips weeds #100

Open rodja opened 1 week ago

rodja commented 1 week ago

While doing field tests with u6 we sometimes saw no action from the weeding screw despite detections being available:

Screenshot 2024-06-29 at 05 12 03

The field_friend.automations.implements.weeding_screw.json config looks ok:

{
    "with_drilling": false,
    "with_chopping": false,
    "chop_if_no_crops": false,
    "cultivated_crop": null,
    "weed_screw_depth": 0.14,
    "crop_safety_distance": 0.02,
    "max_crop_distance": 0.08
}

The first three entries are a relict from the "chop and screw" implement still sitting in the base class. They have no relevance for the weeding screw implement.

Also field_friend.automations.plant_provider.json looks like expected:

{
    "match_distance": 0.1,
    "crop_spacing": 0.18,
    "predict_crop_position": false,
    "prediction_confidence": 0.3,
    "crop_confidence_threshold": 0.3,
    "weed_confidence_threshold": 0.1
}

And field_friend.automations.plant_locator.json too:

{
    "minimum_weed_confidence": 0.05,
    "minimum_crop_confidence": 0.2,
    "autoupload": "disabled",
    "tags": []
}

The Log file is not to helpful:

2024-06-28 14:12:07.313 [INFO] rosys/rosys.py:69: automation started
2024-06-28 14:12:07.316 [INFO] field_friend/automations/implements/weeding_implement.py:50: start weeding ['coin', 'weed', 'big_weed', 'thistle', 'orache', 'kamille'] with Weed Screw ...
2024-06-28 14:12:07.318 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:110: enabling h motors
2024-06-28 14:12:08.320 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:116: activating velocity mode
2024-06-28 14:12:09.824 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:136: moving to end_t stop
2024-06-28 14:12:13.588 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:146: moving out of end_t stop
2024-06-28 14:12:14.698 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:156: moving slowly to end_t stop
2024-06-28 14:12:16.632 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:166: moving slowly out of end_t stop
2024-06-28 14:12:17.936 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:178: zaxis referenced
2024-06-28 14:12:17.938 [INFO] field_friend/hardware/z_axis_canopen_hardware.py:180: actual position: -0.00065, and steps: -2600
2024-06-28 14:12:18.139 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:109: enabling h motors
2024-06-28 14:12:19.167 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:115: activating velocity mode
2024-06-28 14:12:20.667 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:135: moving to end_r stop
2024-06-28 14:12:22.802 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:145: moving out of end_r stop
2024-06-28 14:12:23.904 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:155: moving slowly to end_r stop
2024-06-28 14:12:25.816 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:165: moving slowly out of end_r stop
2024-06-28 14:12:27.128 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:180: yaxis referenced
2024-06-28 14:12:27.129 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:182: actual position: -0.12944920000011018, and steps: 918
2024-06-28 14:12:27.130 [INFO] field_friend/automations/navigation/straight_line_navigation.py:29: Setting target pose to 12.472, 0.237, 1.4 deg
2024-06-28 14:12:27.131 [INFO] field_friend/automations/navigation/straight_line_navigation.py:30: Activating Weed Screw...
2024-06-28 14:12:27.149 [INFO] field_friend/automations/puncher.py:130: Clearing view...
2024-06-28 14:12:27.149 [INFO] field_friend/hardware/y_axis.py:47: moving yaxis to -0.125 with speed 300
2024-06-28 14:12:27.150 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:76: moving to steps: 8333
2024-06-28 14:12:28.649 [INFO] field_friend/hardware/y_axis_canopen_hardware.py:89: yaxis moved to -0.125
2024-06-28 14:12:28.650 [INFO] field_friend/automations/plant_locator.py:131: resuming plant detection
2024-06-28 14:12:29.023 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:29.189 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:29.370 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:29.558 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:29.735 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:29.900 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:30.078 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:30.256 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:30.412 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:30.617 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:30.814 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:31.027 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:31.578 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:31.653 [INFO] field_friend/automations/implements/weeding_implement.py:77: checking for plants...
2024-06-28 14:12:31.855 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.495, -0.000, 1.4 deg with factor 0.002
2024-06-28 14:12:31.865 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:32.021 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:32.385 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:32.465 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.516, 0.000, 1.2 deg with factor 0.002004271306361429
2024-06-28 14:12:32.586 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:33.073 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.541, 0.001, 0.9 deg with factor 0.002009261245492229
2024-06-28 14:12:33.197 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:33.702 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.568, 0.001, 0.6 deg with factor 0.00201468339943148
2024-06-28 14:12:33.847 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:34.080 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:34.306 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.591, 0.001, 0.4 deg with factor 0.0020194142260010393
2024-06-28 14:12:34.331 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:34.910 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.616, 0.002, 0.5 deg with factor 0.0020246242913138654
2024-06-28 14:12:35.516 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.641, 0.002, 0.5 deg with factor 0.002029698074816147
2024-06-28 14:12:36.121 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.667, 0.002, 0.6 deg with factor 0.002034969465614345
2024-06-28 14:12:36.395 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:36.754 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.692, 0.002, 0.8 deg with factor 0.0020401968865643287
2024-06-28 14:12:36.919 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:37.168 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:37.380 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.719, 0.003, 0.8 deg with factor 0.0020457992110589985
2024-06-28 14:12:37.400 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:37.733 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:37.910 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:37.987 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.743, 0.003, 0.9 deg with factor 0.0020509531119428204
2024-06-28 14:12:38.440 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:38.562 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:38.590 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.768, 0.004, 0.9 deg with factor 0.0020561898879996993
2024-06-28 14:12:38.694 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:39.142 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:39.200 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.792, 0.004, 0.9 deg with factor 0.0020613723512847384
2024-06-28 14:12:39.380 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:39.609 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:39.727 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:39.811 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.817, 0.004, 1.0 deg with factor 0.002066628505955463
2024-06-28 14:12:39.963 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:40.424 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.842, 0.005, 1.0 deg with factor 0.0020719077718545737
2024-06-28 14:12:40.633 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:40.991 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:41.028 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.867, 0.005, 1.1 deg with factor 0.002077367748681368
2024-06-28 14:12:41.339 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:41.594 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:41.632 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.893, 0.006, 1.2 deg with factor 0.0020828784831094815
2024-06-28 14:12:42.227 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:42.240 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.919, 0.006, 1.3 deg with factor 0.0020885285571915113
2024-06-28 14:12:42.354 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:42.355 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:42.469 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:42.590 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:42.789 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:42.847 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.943, 0.007, 1.3 deg with factor 0.002093868197026541
2024-06-28 14:12:42.927 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.069 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.071 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:43.185 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.360 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.464 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.497 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.969, 0.008, 1.4 deg with factor 0.0020996161741986858
2024-06-28 14:12:43.574 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.694 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:43.874 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.084 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.117 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 2.995, 0.008, 1.5 deg with factor 0.0021054437660200376
2024-06-28 14:12:44.246 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:44.247 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.345 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.460 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.603 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.605 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:44.707 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.726 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.022, 0.009, 1.6 deg with factor 0.0021112780939937527
2024-06-28 14:12:44.822 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:44.923 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.045 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.146 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.262 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.335 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.045, 0.010, 1.7 deg with factor 0.0021165758327072685
2024-06-28 14:12:45.378 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.471 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.583 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.584 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:45.676 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.771 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:12:45.955 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.072, 0.010, 1.8 deg with factor 0.002122537094806564
2024-06-28 14:12:46.480 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:46.560 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.096, 0.011, 1.7 deg with factor 0.0021280685803179633
2024-06-28 14:12:46.588 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:47.164 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.122, 0.012, 1.6 deg with factor 0.0021339024892894558
2024-06-28 14:12:47.416 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:47.773 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.146, 0.013, 1.7 deg with factor 0.0021394643135960057
2024-06-28 14:12:48.377 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.172, 0.013, 1.6 deg with factor 0.0021452478573368186
2024-06-28 14:12:48.982 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.196, 0.014, 1.5 deg with factor 0.0021509789363424402
2024-06-28 14:12:49.587 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.222, 0.015, 1.6 deg with factor 0.0021570201198710106
2024-06-28 14:12:50.192 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.246, 0.015, 1.5 deg with factor 0.0021624519863248496
2024-06-28 14:12:50.519 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.262, 0.016, 1.5 deg with factor 0.0021661684383720244
2024-06-28 14:12:50.837 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.278, 0.016, 1.5 deg with factor 0.002169912861852328
2024-06-28 14:12:51.156 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.296, 0.017, 1.4 deg with factor 0.002174288150303353
2024-06-28 14:12:51.460 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.312, 0.017, 1.4 deg with factor 0.0021781058735564833
2024-06-28 14:12:51.649 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:51.765 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.329, 0.018, 1.4 deg with factor 0.002182032429832672
2024-06-28 14:12:52.099 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.344, 0.018, 1.4 deg with factor 0.002185638975082573
2024-06-28 14:12:52.117 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:52.305 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:52.402 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.362, 0.018, 1.3 deg with factor 0.0021899674601002766
2024-06-28 14:12:52.707 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.379, 0.019, 1.3 deg with factor 0.002193969697797171
2024-06-28 14:12:53.009 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.394, 0.019, 1.3 deg with factor 0.002197641706784146
2024-06-28 14:12:53.316 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.410, 0.019, 1.3 deg with factor 0.0022016321198446284
2024-06-28 14:12:53.619 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.427, 0.020, 1.2 deg with factor 0.0022057844228071184
2024-06-28 14:12:53.942 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.445, 0.020, 1.2 deg with factor 0.002209995389996537
2024-06-28 14:12:53.953 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:54.245 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.460, 0.021, 1.2 deg with factor 0.0022137288746255745
2024-06-28 14:12:54.549 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.476, 0.021, 1.2 deg with factor 0.002217799802383766
2024-06-28 14:12:54.852 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.493, 0.021, 1.2 deg with factor 0.0022218148310813915
2024-06-28 14:12:55.155 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.509, 0.022, 1.2 deg with factor 0.00222594181825534
2024-06-28 14:12:55.468 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.526, 0.022, 1.1 deg with factor 0.0022300537692771746
2024-06-28 14:12:55.668 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:55.811 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.544, 0.022, 1.2 deg with factor 0.002234563225792337
2024-06-28 14:12:56.124 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.562, 0.023, 1.2 deg with factor 0.0022389366503989946
2024-06-28 14:12:56.748 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.589, 0.023, 1.2 deg with factor 0.002245809798243537
2024-06-28 14:12:56.958 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:57.370 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.613, 0.024, 1.3 deg with factor 0.002251822592390628
2024-06-28 14:12:57.975 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.637, 0.024, 1.3 deg with factor 0.00225788446315217
2024-06-28 14:12:58.579 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.662, 0.025, 1.3 deg with factor 0.0022642844415537173
2024-06-28 14:12:58.710 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:12:59.215 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.685, 0.025, 1.3 deg with factor 0.002270296456157538
2024-06-28 14:12:59.845 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.712, 0.026, 1.4 deg with factor 0.0022771965429276703
2024-06-28 14:13:00.017 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:13:00.169 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:13:00.338 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:13:00.436 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:13:00.448 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.736, 0.027, 1.5 deg with factor 0.002283468495917744
2024-06-28 14:13:00.558 [INFO] field_friend/automations/plant_locator.py:118: thymian not in categories
2024-06-28 14:13:00.559 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:00.996 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:01.056 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.763, 0.027, 1.3 deg with factor 0.0022905884719059038
2024-06-28 14:13:01.114 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:01.272 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:01.420 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:01.554 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:01.662 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.787, 0.028, 1.3 deg with factor 0.0022969266336361083
2024-06-28 14:13:01.673 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:01.852 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:02.225 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:02.269 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.811, 0.028, 1.3 deg with factor 0.0023033115899282245
2024-06-28 14:13:02.358 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:02.464 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:02.685 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:02.892 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:02.902 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.838, 0.029, 1.3 deg with factor 0.0023105513774068207
2024-06-28 14:13:03.229 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:03.514 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.863, 0.030, 1.3 deg with factor 0.0023170546910178157
2024-06-28 14:13:03.822 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:03.983 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:04.119 [INFO] field_friend/automations/navigation/straight_line_navigation.py:41: driving to local target 3.889, 0.030, 1.4 deg with factor 0.0023240249869878517
2024-06-28 14:13:04.203 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:04.494 [INFO] rosys/rosys.py:69: automation stopped because stop button was pressed
2024-06-28 14:13:04.521 [ERROR] field_friend/automations/plant_locator.py:100: could not generate floor point of detection, calibration error
2024-06-28 14:13:04.539 [INFO] field_friend/automations/plant_locator.py:125: pausing plant detection

The could not generate floor point of detection, calibration error are expected. Any detection outside the calibrated area will produce this message. We verified calibration is ok with manual punching and visualization of the grid.

rodja commented 1 week ago

I created pull request #101 to see if the weeds are raising above the configured threshold in the Plant Provider.