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:

To Just Run the Robot with Pre-Computed points, paths, etc.

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

To compute the points, paths, etc yourself:

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