ROS Robotics: Bug2 and RANSAC

Source code (Bug2): bug2.cpp
Source code (RANSAC): perception.cpp

A two-part assignment using ROS, the first was a RANSAC algorithm to take raw collision data and smooth it into a continous segment. The second part was a Bug2 implementation. Our robot was supposed to make a direct path from a starting point to an end point and follow it. When the robot reaches a point in the direct path where it cannot go, it follows the wall until its past the point it should have been if the object/terrain blocking the path wasn't there.