Assignment 1: Robot Cleaner

The objective of these files is to simulate a Roomba vacuum cleaner. The turtle moves in a pattern to get maximum coverage of a 10mx10m room

turtlesim_spiral_cleaner.launch

The launch file turtlesim_spiral_cleaner.launch causes the turtlesim to cover the room in a spiral pattern as shown below:

turtlesim_grid_cleaner.launch

The launch file turtlesim_grid_cleaner.launch causes the turtlesim to cover the room in a grid pattern as shown below:

rosbag 2017-02-02-04-37-24.bag

The rosbag file 2017-02-02-04-37-24.bag was recorded using the following method:

roscore

In a new terminal window

rosrun turtlesim turtlesim_node

In a new terminal window

rosrun turtlesim turtle_teleop_key

In a new terminal window

rosbag record -a

and should be ran using:

roscore

In a new terminal window

rosrun turtlesim turtlesim_node

In a new terminal window

rosbag play 2017-02-02-04-37-24.bag

ten_squares_grid_cleaner.launch

To run the grid cleaning simulation in gazebo, first the ten_squares_gazebo_world.launch file should be ran followed by the ten_squares_grid_cleaner.launch file