comprobofinal18

A Repository for our Comprobo 2018 Final Project

For an explanation of PINBot and what it does, see our website

Run the Code Yourself:

clone this git repo to your ~/catkin/src folder
roslaunch neat_node bringup.launch host:=192.168.xx.xx
cd to the main pinbot folder and run python astar.py to create an initial path through the map
Run rosrun pinbot navstar.py to output velocity commands for the robot

Follow steps 1-2 above
Run rosrun neato_2dnav gmapping_demo.launch to begin collecting map data
Run map_server map_saver -f /path/to/pinbot/folder/maps to save map file
Open astar.py and navstar.py to change path to map file to current map file path
Run python astar.py with the new map file path
Run map_server map_server /path/to/map/file to load the map into the map_server
Run rosrun pinbot image_to_points.py to convert the map image to points
Run rosrun pinbot particle_clustering.py to run the particle clustering algorithm
Run rosrun pinbot find_circle.py to identify the circles and publish that data
Run rosrun pinbot marker_viz.py to visualize/confirm the identification code
Run rosrun pinbot navstar.py to run the A* algorithms and output velocity commands to the robot
Sit back, relax, and enjoy while your neato effortlessly threads its way through a mine field to get to a round trashcan