bug_flood

A bug based offline path planner.

Input

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.

Execution

Terminal One: roscore

Terminal Two: rviz

Eviornment visualization

Terminal Three: rosrun bug_flood env_display <sourceGoal File> <obstacleLine file> <map file>

Bug Flood

Terminal Four: rosrun bug_flood bug_flood <sourceGoal File> <obstacleLine file> <map file>