项目作者: williamnagels

项目描述 :
Autonomous vacuum cleaner robot
高级语言: Python
项目地址: git://github.com/williamnagels/vacuumcleaner.git
创建时间: 2019-12-07T00:11:22Z
项目社区:https://github.com/williamnagels/vacuumcleaner

开源协议:

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Vacuum cleaner robot

Brief

Scan data of a LIDAR is combined with odometry provided by the differential drive to implement a SLAM capable platform.

The resulting map is used by an online coverage algorithm to plan a route.

How to build

How to run

  • Start default planning algorithm in default room: roslaunch vacuumcleaner simulation.launch robot_radius:=X spiral_delta_denominator:=Y

launch file parameters

robot_radius: mandatory -> radius of body disk and unit is meters

spiral_delta_denominator: mandatory -> cfr planning algorithm. Subsequent goal points for stage 1 spiral planning lay
radians apart.