Testing - minaamakary/MENA GitHub Wiki

To undergo a successful testing phase, we created different rooms with different shapes and sizes in Gazebo. We then spawned the robot in the world, to observe how effective the navigation would be. For every room, we are observing the following:

Representation of the live mapping
Final representation of the room as a Point Cloud Data file
Time taken for the robot to complete the room navigation

Empty Square Room (Room 1)

Live Mapping Representation

roomLivingMapping

Saved mapping file X Gazebo World look

navigation noLidar

Time taken to complete the room - 6 minutes 38 seconds

Room Dimensions 10 X 10 meters

Irregular Room (Room 2)

Time taken to complete the room - 7 minutes

Octagonal Room (Room 3)

Time taken to complete the room - 5 minutes

Irregular Room B (Room 4)

Time taken to complete the room - 7 minutes 45 seconds

Maze Room A & B(Rooms 5 and 6)

Time taken to complete rooms - Above 15 minutes

P.S: Above maze rooms are double size (20 meters).

mappingDemo

Full Demos

https://github.com/user-attachments/assets/faa2e2bb-2ae7-442d-bc59-73e4487756e2

https://github.com/user-attachments/assets/555a6e4d-1cef-43d6-a1af-949c7f7b85bd

https://github.com/user-attachments/assets/9023d47d-4fa6-4377-8576-2d947e8ef78c

https://github.com/user-attachments/assets/8c6dce04-c4b4-45eb-ad3e-88e7616d9cd7