Revision history [back]

I'll choose plan 1,which use the map of room.

In the beginning, a global plan to walk through all the walls are planned. Then you can define two states for your robot to follow, "Wall following" and "Obstacle avoidance". This might be implemented by using SMACH,

But the tricky part is in the state changing condition. This might be interesting, you can test different strategies.

Another solution is to use ROS navigation, but implement your own global planner (by writing a plugin) to let it generate a plan that follows the wall.