ROS implementation of an architecture for creating a cognitive (semantic/graphical/topological) map of an indoor environment segmented by rooms from a grid map.
These initial files are directly uploaded from my own system. There are not expected to work in unconfigured systems- several hardwired dependencies that are to be resolved before these can be used in general systems. Four issues that needs to be addressed:
- scripts that use absolute addresses should use launch file parameters,
- the Prolog script generator must be upgraded to new specs,
- world SDF files should reside inside this package,
- external dependencies (Turtlebot packages, openCV, pygame, etc.) should be specified in manifest for rosdep.
Resolving these issues (boring manual labor) should make this piece of software runnable on any system with ROS.