All algorithms used for this project are outlines in Robotics_Final_Project_Report.pdf
cd catkin_ws/src/
git clone https://github.com/hrnr/m-explore.git
cd catkin_ws/src/
git clone https://github.com/stdr-simulator-ros-pkg/stdr_simulator.git
To launch one robot issue the commands below
$ cd catkin_ws
$ source devel/setup.bash
$ roslaunch launchers demo_one_robot.launch
To launch two robots use the commands below
$ cd catkin_ws
$ source devel/setup.bash
$ roslaunch launchers demo_two_robots.launch
Only important files covered here.
catkin_ws/ # main ROS workspace
src/
explorer/ # source files for our implementation
src/
front_test/ # code for testing algorithms and plotting occupancy grids with matplotlib
pyexplorer/ # source code for client, server, frontier search and map_listener
explorer_client_node.py # ROS node for a client, instantiated once for each robot
explorer_server_node.py # ROS node for server, instantiated once on startup
srv/ # service types for server requests/responses
launchers/ # launch file package
resources/ # move_base config, robot config, rviz configs
launch/ # all launch files
demo_one_robot.launch # run our implementation with one robot
demo_two_robot.launch # run our implementation with two robots
demo_three_robots.launch # run our implementation with three robots
multi_sim_exploring.launch # launch two robots and use explore-lite to explore