Aspirator3000

Aspirator 3000 is a cleaning robot much like the ones you find at home, this one, however, comes with a bit of a twist, it can guarantee a quick and simple cleaning session through the use of a complex navigation system. With a LIDAR as well as encoder motors it maps the environment it will clean and proceeds to sweep the area in an efficient manner.

Installation

sudo apt install ros-noetic-gmapping

cd ~/catkin_ws/src
git clone https://github.com/ViDaProjects/aspirator3000.git
git clone https://github.com/Slamtec/rplidar_ros.git

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Running

Simulation

Launching the simulation (currently on an empty map).

roslaunch gazebo_aspirator aspirator_sim.launch

Real robot

All this will be changed to a single roslaunch when I get the chance.

Mapping phase (for now)

roslaunch aspirator3000 mapping.launch

Nav phase (for now)

roslaunch rplidar_ros rplidar_a1.launch

roslaunch aspirator3000 nav.launch

Development phase important commands

Saving the map (for now).

rosrun map_server map_saver -f ~/catkin_ws/src/aspirator3000/aspirator/maps/map