The objective is to develop a better navigation and exploration system for the BWI segbots. We will develop new algorithms for having the robot autonomously generate a map of an area it has never explored before.
1. Install hector_mapping http://wiki.ros.org/hector_mapping
To use hector_mapping, you need a source of sensor_msgs/LaserScan data
rosrun bwi_a_slam grid_reader
Grid reader should interpret the occupancy grid created by the robot's sensory input in order to visualize it
roslaunch segbot_navigation robot_with_gmapping_v2.launch
rosrun bwi_a_slam explorer
Explorer publishes to the command velocity topic after a decision has been made