escape-room

description

• Simple and safe real-time navigation for no-noise differential-drive agent with LIDAR for escaping static environments.
• Dynamic known environments can be managed but safety is not guranteed.

roadmap

• Problems solved until now are documented in report.pdf

code

• The project is a typical ROS project.
• src/ contains all source code.
• src/planner and src/replanner contain the core logic, the others are used as libraries.

documentation

• For most of the code, the documentation is itself.

usage

• Open a terminal at project root (the directory containing this file).

Known environment with humans

• roscore
• catkin_make
• source devel/setup.bash
• roslaunch turtlebot3_gazebo turtlebot3_zigzag_cylinder.launch

Unknown environment

• roscore
• catkin_make
• source devel/setup.bash
• roslaunch turtlebot3_gazebo turtlebot3_zigzag.launch

demonstration

A quick showcase of features.