ROS 扫地机器人路径覆盖及控制源码

# turtlesim_cleaner This is the code from youtube ROS Tutorial 4 Series. This is not my own work. This is the code written by following the tutorial from https://www.youtube.com/playlist?list=PLSzYQGCXRW1HLWHdJ7ehZPA-nn7R9UKPa Five C++ files. This tutorial demonstrates how to develop a simple cleaning application with turtlesim. It consists in making a coverage a full area like robot cleaners. 1.robot_cleaner_move_rotate.cpp for the tutorial https://youtu.be/PGZMlzBlMmw?list=PLSzYQGCXRW1HLWHdJ7ehZPA-nn7R9UKPa 2.robot_cleaner_abs_orientation.cpp for the tutorial https://youtu.be/Ddqwq2WXFEk?list=PLSzYQGCXRW1HLWHdJ7ehZPA-nn7R9UKPa 3.robot_cleaner_move_to_goal.cpp for the tutorial https://youtu.be/Qh15Nol5htM?list=PLSzYQGCXRW1HLWHdJ7ehZPA-nn7R9UKPa  4.robot_cleaner_grid_clean.cpp  and 5.robot_cleaner_spiral_clean.cpp for the tutorial https://youtu.be/ehH8oLfsz-w?list=PLSzYQGCXRW1HLWHdJ7ehZPA-nn7R9UKPa  Create a package by ``` cd catkin_ws/src catkin_create_pkg turtlesim_cleaner cd catkin_ws catkin_make ``` Now, go to ``` cd ~/catkin_ws/src/turtlesim_cleaner mkdir src ``` Go to this diectory in File Explorer and create a new file named robot_cleaner.cpp Copy the code of the tutorial you want from the repository and paste it in the robot_cleaner.cpp Replace your CMakeList.txt and package.xml file with the files in the repo. To run the Demo: ``` roscore //ROS Master rosrun turtlesim turtlesim_node //turtlesim rosrun turtlesim_cleaner robot_cleaner_node ```