Simulating cleaning map in ROS
I am trying to simulate a roomba using ROS. For planning the path and to figure out what area to clean next, I would like to maintain a map where the known cells are the ones visited by the robot and the grey ones are yet to be visited. Obviously feeding laser scans to slam won't generate such a map. My initial attempt was to add a fake lidar to the bot and restrict it's range to denote the cleaning area but when I remapped this data to gmapping the boudaries were labelled as obstacles which is undesired.
How can I efficiently create an OccupancyGrid for a cleaning robot where the known areas in the map denote the areas which the bot has cleaned?