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