segment_cover_path_planner

Developing Planner for covering given segment in the map

INSTALLATION

mkdir -p ~/Floor_cleaner_ws/src
cd ~/Floor_cleaner_ws/src
git clone {this branch}
pip3 install shapely

Build

cd ~/Floor_cleaner_ws
catkin_make

Starting robot

roslaunch robot_gazebo gazebo.launch

starting navigation

roslaunch segment_cover_path_planner test_scpp.launch

rviz

roslaunch segment_cover_path_planner rviz.launch

start scpp

rosrun segment_cover_path_planner scpp.py

Use publish point in rviz to give interested coverage segment

start planning

rosserice call /start_planning "{}"

To Cancel the selected polygon

rosserice call /clear_segment "{}"

planner testing

To test the planner first set segment to be cleaned using publish point function in rviz to select segment polygon and run planner_tester.py in robot_global_planner/scripts

segment for planning

created plan