RoboMaster-Maze-Mapping

Here is a ROS package that implements the RoboMaster-Maze-Mapping

Installation

Unzip the package and copy the root folder to the source folder of your workspace, ~/dev_ws/src:

$ unzip Robomaster_Maze.zip
$ mv Robomaster_Maze ~/dev_ws/src

Build your workspace, so that the new package becomes available

$ cd ~/dev_ws
$ colcon build

Usage

Open CoppeliaSim:

$ ~/apps/CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/coppeliaSim.sh

Load the first world, Maze.ttt or Maze.withdoor.ttt or room.ttt or Test.ttt, from the Coppelia GUI, enable real-time mode and start the simulation.

Open a second terminal and start the Robomaster ROS bridge:

$ source ~/dev_ws/install/setup.bash
$ ros2 launch robomaster_ros ep.launch name:=robo1 tof_0:=True tof_1:=True tof_2:=True tof_3:=True

Open a third terminal, source your workspace and launch align.launch.py, which implements the second and third tasks:

$ source ~/dev_ws/install/setup.bash
$ colcon build --packages-select Robomaster_Maze
$ ros2 launch Robomaster_Maze controller.launch.py robomaster_name:=robo1

While running the program it creates a Maze0.bmp file and updates it everytime there is an update to the map and it can be found at ~/dev_ws

Screenshots