Fire fighting robot

By Lidor Shimoni, Daniel Angel

• Uses SLAM to map its surrounding
• Autonomously exploring
• Recognizes fire and trapped peoples and marks their location on the map

Example

Running in simulation

For a simulation with joystick controller use:

roslaunch joystick_slam.launch

For a simulation with move_base controller use:

roslaunch move_base_slam.launch

For autonomous exploration use:

roslaunch lite_exploration.launch

Dependencies

The following dependencies are required:

• python 3.X
• python3-opencv
• teb_local_planner as move_base -> local_planner
• GlobalPlanner as move_base -> global_planner
• diffdrive
• frontier_exploration

Optional

• Explore_lite