Room exploration with Gazebo simulator

This project executes a mission (written in Python) with Gazebo simulator with path generation with lidar.

In order to execute this test, perform the following steps:

• Install the Aerostack project called "rooms_exploration_gazebo".

• Change directory to this project:

    $ cd $AEROSTACK_STACK/projects/rooms_exploration_gazebo
  

• Install the lidar components:

    $ ./lidar_instalation.sh
  

• Execute the script that launches Gazebo for this project (the window presented by Gazebo displays a scenario with a set of rooms as it is shown below):

    $ ./launcher_gazebo.sh
  

• Execute the script that launches the Aerostack components for this project:

    $ ./main_launcher.sh
  

• In order to run the mission you have to execute the following command:

    $ rosservice call /drone111/python_based_mission_interpreter_process/start
  

The following video illustrates how to launch the project:

Here there is a video that shows the correct execution of the mission, with a fixed aerial view and the lidar map:

Here there is a video that shows the correct execution of the mission, with a following view and the lidar map: