• Using opencv and costmap2d to make cleaning plan.
• Using movebase to contral robot's movement.
• Caution, I just cost one week to search this work, so it still need much more work if you want to make it runs better.
• The env of this code is Ubuntu14.04, ros_indigo, opencv2. ubuntu16.04-ros-kinetic also test passed.

• rbx1 https://github.com/pirobot/rbx1/tree/kinetic-devel-beta
• opencv
• ros-navigation-stack(actionlib、move-base...)
• roscpp、 tf
• Download corresponding script in this repo to install depends.

1. Download 'build.sh' in this repo.
2. export ROOT_WS='your absolute root work space path'
3. sh build.sh

cd $ROOT_WS source devel/setup.sh roslaunch cleaning_robot path_planning.launch

(click left menu of CoveragePath to select corresponding topic to show path in mainwindow.)

cd $ROOT_WS source devel/setup.sh roslaunch cleaning_robot cleaning_movebase.launch

(click left menu of CoverageMap to select corresponding topic to show covered grids in mainwindow.)