ROSified coverage, and publish the best points.

Swarm-IITKgp / swarm_coverage

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Closed kumarkrishna closed 9 years ago

kumarkrishna commented 9 years ago

This PR includes :

Converted to a ROS package.
Subscribe to /obstacleList for the list of obstacles from simulator and create an image map.
Publish at /coverage the best points according to CVT.
Depends on the swarm_simulator package for obstacle data.

The CVT on image map of current arena : partition