I wonder how easy it would be to integrate this to ROS for real robotic simulations. Anyone has experience in the matter?
Overall, I had more issues with finding good resources on the rospy module than anything else. It seems almost all robotics development with ROS is done using C++ instead of Python (in my little experience), so there is little I could find in terms of code samples that would allow to get past a project like this (https://github.com/gandalf15/CS3027--CS5059--Robotics-Univer...).
Rospy aside, writing and implementing your own SLAM/path-planning tools in ROS is quite simple once you get familiar with the architecture of ROS. All the sensor data can be collected by subscribing to the right channel, and then you can return driving instructions back to a controller by publishing them on another channel. Since all this channel business operates on the network layer, you can even offload the computational workload of the algorithms to a remote system and have the robot get its moving instructions over Wi-Fi.
It really makes sense to rely on the ROS packages, I will look what is available, thank you.