For code below only works on linux and more specifically on Ubuntu 7.04 (Feisty Fawn). Note that if you decide to download and use the code, modifications will be required in order to adapt it to your system. The robot navigation/exploration part of the code is written in C++. This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY.

Before downloading our code you should download and install the following software

• Player/Stage: Software for controlling the robot.
• GMapping SLAM code from OpenSLAM. Our SLAM code is an adaptation of the GMapping code to work with Player/Stage.
• libdc1394 library ver 2: A library that provides a complete high level application programming interface (API) for developers who wish to control IEEE 1394 based cameras that conform to the 1394-based Digital Camera Specifications
• Qt library: Used to visualize the map created by the SLAM module.

Finally here is our code that controlled the motion of the robot and triggered the cameras.

In order to get the frames from the camera you need to download this.