Challenge 6: Update the coverage field

Preparation

Go to your repository, return in master branch and create a new one:

git checkout master
cd ~/catkin_ws/src/autonomous_systems_architectures/
git checkout -b challenge_6

Go to the autonomous_exploration/config/autonomous_explo.yaml and change these:

• calculate_target: True
• velocities_architecture: 'motor_schema'

Task

The task is to fill the updateCoverage function located here using the proper class variable. Assume that the robot covers an area of 2m x 2m around it and 0 is the uncovered value, whilst 100 is the covered. This function is called when a new target is selected (do not expect for the coverage field to be constantly updated). The coverage field will show up in rviz.

Points

10 out of 100