cleaner_bot

cleaner_bot is a ros-noetic turtlebot3 based package which simulates a vacuum cleaner robot.

Installation

To install this repository first make sure you have all the turtlebot3 packages and explore-lite packages installed. For that:

sudo apt-get install ros-noetic-move-base ros-noetic-turtlebot3-bringup ros-noetic-turtlebot3-navigation ros-noetic-explore-lite

Usage

Clone this repository in catkin_ws/src and build your workspace:

catkin_make

Running

Start the gazebo simulation with

roslaunch cleaner_bot gazebo.launch

If the map of your world is not known then you must run the exploration first which is:

roslaunch cleaner_bot explore.launch

Do not forget to save your map after exploration is done with:

rosrun map_server map_saver --occ 90 --free 10 -f ~/catkin_ws/src/cleaner_bot/map/<YOUR_MAP> map:=/map

Then you can perform cleaning by first closing the exploration node and running:

roslaunch cleaner_bot do_cleaning.launch

YouTube Video

Here is a YouTube Video of the project.

Report

For further explanation check cleaner_bot.pdf inside the repository.