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

Current Build status:

Please visit my blog for more!

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