# Robot SLAM Simulation with Sensor Crosstalk Management

This project simulates a robot equipped with **Ultrasound** and **IR** sensors navigating a 2D environment, performing **SLAM** (Simultaneous Localization and Mapping), managing **dynamic crosstalk**, and building an **occupancy grid map** in real-time, with optional **GUI visualization**.

## 📦 Installation (Linux)

### 1. Set up a Python virtual environment

```bash
python3 -m venv slam_env
source slam_env/bin/activate
```

### 2. Install required Python libraries

```bash
pip install numpy matplotlib PyQt5 scikit-learn pytmx
```

### 3. Install GTSAM manually from GitHub

Follow the official GTSAM installation guide:  
https://github.com/borglab/gtsam

Summary of typical steps:

```bash
sudo apt-get install cmake libboost-all-dev libtbb-dev libeigen3-dev
git clone https://github.com/borglab/gtsam.git
cd gtsam
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install
```

Then, install Python bindings:

```bash
cd ../python
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install
```

If needed, update your PYTHONPATH:

```bash
export PYTHONPATH=/usr/local/lib/python3.x/dist-packages:$PYTHONPATH
```

Replace `python3.x` with your installed version.


## 🚀 Usage

### Run the simulation in GUI mode

```bash
python aa.py
```

or explicitly:

```bash
python aa.py --gui
```

### Run the simulation in headless (non-GUI) mode

```bash
python aa.py --no-gui
```

### Load a custom environment from a Tiled map

```bash
python aa.py --tiled_map your_map.tmx
```

### Controls (in GUI mode)

| Key         | Action               |
|-------------|-----------------------|
| `Z`         | Move forward           |
| `S`         | Move backward          |
| `Q`         | Turn left              |
| `D`         | Turn right             |
| `X`         | Stop movement          |
| `SPACE`     | Pause / Resume         |
| `ESC`       | Save sensor layout     |

When closing the GUI, the following files are automatically saved:
- `map.pkl` → Occupancy grid as a pickle file
- `map.png` → Occupancy grid image

## 🔧 Project Structure

| File/Folder   | Description                                |
|:--------------|:-------------------------------------------|
| Sensor, MotionModel, SLAMEngine, etc. | Core simulation classes |
| SensorLayoutEditor | GUI editor for live sensor placement |
| Visualizer | 2D occupancy grid visualization |
| Environment | Wall and obstacle management (including Tiled map support) |
| OccupancyGrid, CoverageAnalyzer | Mapping and blind spot detection |
| main() | Entry point for launching GUI or headless simulation |