This is my simple nav stack for an iRobot Create2.
Over time, I plan to re-implement most 3rd party nodes and systems myself as programming exercises
This now works with slam
TODO
- Add self-docking feature
- Add people (or pet) following
- Add vacuum path generation
- Change gridmap to quadtree (or just add a quadtree map implementation)
- Implement my own localization?
- SLAM?
- UKF?
- Particle Filter?