experiment-todo.md

preparation

• make sure there is enough space on disk
• clear any chached files (canopy data)
• launch r
• check RTK is OK
• check ouster liudars diagnostic

canopy measurement

• position robot
• check path is free
• disable unnecessary rviz visualization
• do not start nozzle driver
• check RTK is OK
• ts enable_viz_topics:=false enable_pump:=false enable_canopy_estimation:=true enable_spray_actuation:=false

canopy spray

• position robot
• check path is free
• disable unnecessary rviz visualization
• do start nozzle driver
• test nozzles
• check RTK is OK
• ts enable_viz_topics:=false enable_pump:=true enable_canopy_estimation:=false enable_spray_actuation:=true