NOTE: This project was done as part of a research/prototype project. The code is not maintained. Please reach out to the author if you have any questions regarding this work.
A bug based offline path planner.
We take 3 inputs: A binary map, obstacle line lists (with lines in order. Note: we will have a tool to generate this input from the binary map.), and sourceGoal.
Terminal One: roscore
Terminal Two: rviz
Terminal Three: rosrun bug_flood env_display <sourceGoal File> <obstacleLine file> <map file>
Terminal Four: rosrun bug_flood bug_flood <sourceGoal File> <obstacleLine file> <map file>