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