Roomba 5xx Cleaner implementation based on ROS (Robot Operating System)

Current Build status:

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Depends on:

• https://github.com/alex-arnal/costmap_prohibition_layer

ToDo's:

• Verify ekf_localization_motion_model with differential drive setup (http://docs.ros.org/en/melodic/api/robot_localization/html/state_estimation_nodes.html#sensor-differential)
• Test different resolutions in local and global costmap
• Document everything as a series of blog posts
• Test navigation and SLAM precision
• Full coverage real-life test
• Enable/disable vacuum based on map
• Implement docking action