EXECUTION:

The execution of each step should be demonstrated in ROS Stage and the nodes should be written in Python.

You can create a seperate Python node for each robot that executes step A$.$ Or$,$ you can create a single Python

node that executes step A for both robots. You need to have a separate Python nodes for steps B and C$.$

You can start running your nodes either using rosrun command or using roslaunch command by creating

launch files.

In your world file, change the window and floorplan functions in your world file as you see below. The image

file is in the uploaded project folder in Moodle.

window $($

size $[850\mathrm{.}000850\mathrm{.}000]$

rotate $0\mathrm{.}0000\mathrm{.}0$

scale $40\mathrm{.}0$

show$\_$data $1$

show$\_$trailarrows $1$

show$\_$trailfootprint $1$

floorplan $($

name "firstmap"

bitmap "FinalProjectWorld.png$"$

size $[19\mathrm{.}019\mathrm{.}00\mathrm{.}5]$

pose $[0\mathrm{.}0000\mathrm{.}00000\mathrm{.}000]$