UV_BOT

Project of a sanitizer robot developed for my Autonomous and Mobile Robotics class.
This project aims at developing a robot that can navigate a simulated environment while simultaneously generating an irradiation map of the rooms it has to move trough.
This package must be git cloned in your ROS workspace src folder. A report of the project is included in the files in pdf format.

Other packages required:

Turtlebot3 complete install with added packages
EIGEN : sudo apt-get install libeigen3-dev
ANYbotics grid_map : sudo apt-get install ros-$ROS_DISTRO-grid-map

Important commands:

1. remember to $ source /opt/ros/noetic/setup.bash
2. if it is a first install on new machine, delete build and devel folders
3. $ catkin_make for initial build, $ catkin_make -DCMAKE_BUILD_TYPE=Release for release (faster computation, longer compile times)
4. ALWAYS $ source devel/setup.bash

How to use:

1. Map generation: $ roslaunch sanitizer_launch map_generation.launch
2. Sanification: $ roslaunch sanitizer_launch sanitizer_bot.launch

Images:

map_generation

sanitizer_bot