PRACTICE TASK

Objectives:

$1.$ To be familiar with Robot Operating System $($ROS$)$

$2.$ To program a simulated robot to implement a specific navigation task below

Main task:

You should use the data collected in the environment shown in Figure $1$ to control the robot moving from home, going through two gaps, and finally reaching to the charger. Also, you should collect odometry and laser data for creating trajectory, velocity, and map graphs.

Figure $1$ The robot navigation in an indoor environment

Software development:

Now you should be able to optimize your control code to make it concise. Note that the shorter your code, the better your software. You should run your control code in Gazebo simulator, and collect laser, odometry and velocity data for plotting graphs