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README.md

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 # Mobile Robotics Course Assessment Task - 2023
+# Heiko Schoon, Matr.-Nr. 7013850
 
 Autonomous robot that builds a map of the maze (world), identifes the yellow block and reports the position of this block back by posting a specific marker message.
 
-Included in the package are:
+For the creation of the world it is necessary to modify the GAZEBO_MODEL_PATH in .bashrc:
+**export GAZEBO_MODEL_PATH=~/ros2_ws/src/mobile_robotics_hschoon/meshes**
+
+The package "mobile_robotics_hschoon" requires the explore-lite package included in the m-explore-ros2 folder.
+It is important to use the explore-lite files from this .zip because of modified parameters in the param.yaml.
+The package can be started via the script "ros_exam_auto.sh" in the autonomous explorer mode (start from ~/ros2_ws directory).
+
+
+Included in the mobile_robotics_hschoon package are:
 * Package.xml and CMakeLists.txt files
 * launch directory, including necessary launch files
 * urdf directory, including the urdf, sdf and xacro files for your robot
 * meshes directory, including any mesh files needed for the robot model
 * config directory, including required YAML files
-* src directory, including any written C source code files
 * scripts directory, including any written Python source code files
 * worlds directory, including the prepared World file for the task
 * rviz directory, including the prepared RVIZ configuration file
-
-The bash-script (ros_exam.sh) contains the commands necessary to launch the package for manual driving and mapping (31.05.23).
-For the creation of the world it is necessary to modify the GAZEBO_MODEL_PATH in .bashrc:
-**export GAZEBO_MODEL_PATH=~/ros2_ws/src/mobile_robotics_hschoon/meshes**
-
-- [X] Robot designed and loads into world.
-- [X] Basic moving possible and dimensions (physics) adapted.
-- [X] Included libgazebo_ros_camera.
-- [ ] Autonomous movement
-- [ ] Map building
-- [ ] Identifying the position of the yellow square and publishing it in the correct format.

ros_exam_auto.sh

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+#!/bin/bash
+
+cd ~/ros2_ws/
+. install/local_setup.bash
+source /opt/ros/humble/setup.bash
+colcon build
+. install/local_setup.bash
+source /opt/ros/humble/setup.bash
+
+gnome-terminal -- ros2 launch mobile_robotics_hschoon mobile_robotics_hschoon.launch.py use_sim_time:=True
+
+gnome-terminal -- ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
+
+gnome-terminal -- ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True 
+
+gnome-terminal -- bash -c 'cd ~/ros2_ws/;
+. install/local_setup.bash;
+ros2 launch explore_lite explore.launch.py; exec bash'
+
+gnome-terminal -- bash -c 'cd ~/ros2_ws/;
+. install/local_setup.bash;
+ros2 run twist_mux twist_mux --ros-args --params-file ./src/mobile_robotics_hschoon/config/twist_mux.yaml -r cmd_vel_out:=simple_diff_drive_controller/cmd_vel_unstamped; exec bash'