• Ana Barros - [email protected]
• Henrique Melo Ribeiro - [email protected]
• João Costa - [email protected]

.
├── c_world               # world map and robot definition
├── experiments           # data colected furing experiments and python script to process them
├── paper                 # source of the paper (LaTeX)
├── paper.pdf             # paper
├── readme.txt            # this file
├── runsim.sh             # run the simulator with the correct world and robot
└── src                   # source code
    ├── CMakeLists.txt
    ├── c_turtle          # our source code
    └── flatland          # flatland simulator

• Ros Noetic
• Flatland - Included in the src directory

Run catkin_make in the project's root directory and then source devel/setup.sh. Note that sourcing the [devel/setup.sh file] should be done for each terminal running parts of the project.

Starting the simulator can be done by calling roslaunch flatland_server server.launch world_path:="$(pwd)/c_world/world.yaml", or, more conviniently, by executing the runsim.sh script.

Starting the controller can be done by calling roslaunch c_turtle c_turtle.launch. As you will probably do this in another shell instance, don't forget to source devel/setup.sh. The controller uses the config stored on its config file. Feel free to play with it.

Note: if you want to change the sampling rate of the LiDAR, you have to update it both in the robot config file and on the controller config file.