A$.$ TASK$-1$: Multi$-$robot coverage path planning

Two robots are located in ROS Stage environment. The environment includes obstacles that the robots should

avoid colliding.

The starting positions and orientations of the robots are shown in Figure $1.$ The arrows show the directions

that the robot moves. The distance R that the robot travels in left$/$right directions is the same. Both robots

start moving up until they detect the wall$/$obstacle with their sensors; then they turn left$/$right$,$ and then move

down$/$up until they detect the wall$/$obstacle again with their sensors$.$ This motion pattern is executed until

the robot reaches the end point $($see Figure $1,$ square icons$).$ The robots should always face the directions

that they move. The starting positions and the orientations of the robots should appear as seen in Figure $1.$

Set the value of R as $3$ for robot$-1$ and robot$-2.$ You can do small changes on this value.

Each robot should keep the track of the total distance that it travels.

You should create a yaml file that holds the R values for the robots. The parameters in the yaml file should be

received in the Python file using the appropriate functions.

First, robot$-1$ should start moving. When robot$-1$ finishes its motion, it should send the message that includes

string command and float distance to robot$-2.$ The value of the command variable should be $$START$$ and the

value of the distance variable should be the total distance traveled by robot$-1.$ Robot$-2$ should subscribe to

the topic that this message is sent. Upon receiving this message, robot$-2$ should start its motion also print the

distance value that is received. Note that for this message file to be built, you need to modify your

$$CMakeLists$.$txt$$ file in your project package accordingly and include this message as a header to your Python

file$($s$).$

Important Notes:

$$ You should use the robot$$s sensor so that it does not hit the walls$/$obstacles$.$ You can define a fixed

distance $($R$)$ for the robot when it is traveling in left or right direction $($i$.$e$.$ in the x axis$).$ However, do

not define a fixed distance for the robot when it is traveling in up or down direction $($i$.$e$.$ in the y axis$).$

This should be controlled by the robots$$ sensors$.$ That is$,$ the robot should understand when it should

turn left$/$right using its sensor data.

$$ You need to change the world file to change the initial postions and orientations of the robotsEXECUTION:

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