Autonomous Localization and Mapping for the BWI robot

The objective is to develop a better navigation and exploration system for the BWI segbots. We will develop new algorithms for having the robot autonomously generate a map of an area it has never explored before.

Usage

1. Install hector_mapping http://wiki.ros.org/hector_mapping

To use hector_mapping, you need a source of sensor_msgs/LaserScan data

2. Launch grid_reader by running the command

rosrun bwi_a_slam grid_reader

Grid reader should interpret the occupancy grid created by the robot's sensory input in order to visualize it

3. Launch the gmapping node by running the command

roslaunch segbot_navigation robot_with_gmapping_v2.launch

4. Launch explorer by running the command

rosrun bwi_a_slam explorer

Explorer publishes to the command velocity topic after a decision has been made