Techfest-Micromouse

This repository contains the package pkg_tf_micromouse. It uses ROS melodic and gazebo classic 9.

submitted by: Team : MC-213436

Uploaded video of submission : here

Video with vizualization: mmc.mp4

Award: 2nd runners up, Techfest 2021

steps for running simulation

Make sure you are using X11 as the display server and not wayland. Also disable Xserver access control with xhost +.

1. Start the container: docker compose up --build

2. Open a terminal in the container: docker exec -it mmc_container bash

3. Launch the simulation in a world of your choice using roslaunch pkg_tf_micromouse final.launch world_name:=<name>.

   Available worlds are arena.world and arenax.world where x can be 1,2,3,4,5.

4. The mouse will make a searching run followed by a final run.

5. shut the container with docker compose down.

I lost the vizualizer code unfortunately. So the current repo contains the non-vizualized simulation.