Result of the course "autonomous mobile robots" at the university Ravensburg-Weingarten. The goal is to escape a maze with the Turtlebot. The training maze is given and known, however the contest maxze is unknown.
It is not allowed to create a map and contrary to the most maze games found online, there are more option than left, right, forth and back. Since there are no fix positions like on a chess board, the Turtlebot can be anywhere in the maze and turn any angle to any direction.
The coordinates of the goal are published to the topic goal_pub and the robot permanently listens to that topic. It also tracks the travelled distance using the given dist_tracker
roslaunch ll-162143_maze maze_solver.launch
For info on the solution, please see the Wiki