Final Project: Hunt the Wumpus

This is a bit ambitious, but let's see how much we get. Your assignment is to get the robot to play Hunt the Wumpus. Hunt the Wumpus is an old computer game with a number of variations. Linux includes a variation based on the original version, called 'wump'. Our variation will include:

A wumpus: A wumpus is a horrible beast that devours adventurers, similar to a grue. Wumpuses do not like to bathe, and smell unusually bad. If you enter the room with the wumpus, it eats you.
Bottomless pits: pits that are bottomless. You do not want to fall down one of these. If you enter a room with a pit, you fall it, game over.
Odor: the offensive output of a wumpus. If you are in a room next to wumpus, you will smell it.
Breeze: the wind produced by bottomless pits. If you are in a room next to the pit, you will feel a breeze.
Arrows: You have three arrows you can use to hunt the wumpus.

Wumpuses have legendary suction cup suckers that enable them to not fall in pits. Of course, your robot doesn't have a nose, can't feel breeze and can't shoot arrows, so we will approximate this by:

Smell: If you are in a room with a red blob, that will count as the wumpus stench.
Breeze: If you are in a room with a blue blob, that will count as feeling the breeze
Arrows: If you beep, that will count as shooting an arrow.

Your task: hunt the wumpus. Write a program that controls the robot to wanter the maze, determine where the wumpus is, and shoot it. You will get to build a full map of the maze before having to hunt the wumpus. You may use any ROS capability you find. Good luck; don't die.

Details

Seeing as we don't have a real maze, we will have to hallucinate on in the hallway. I have selected a 3x3 grid of poses that represent the rooms of the maze. When traveling between "rooms" you travel between adjacent poses. In that pose, you should be facing any blobs that might be there. The poses are: # bottom left (8.139587521179543, 8.63396396448861, 3.0410616886749198)
# left (9.644070615554043, 8.683094483763735, 1.650208807760639)
# top left (11.644895175540258, 8.01493049491291, -0.35657076618244155)
# top middle (11.030015915392381, 6.076267627676346, -0.37105699897399447)
# middle (9.360791594244349, 6.057691499351662, -1.7465509824707264)
# bottom middle (8.170462655060051, 6.071883226345893, 3.055547921466472)
# bottom right (8.160647082083825, 2.3574255081797797, -1.5465362501921756)
# right (9.749915221882128, 2.3510081144030046, -1.5049974139947104)
# top right (11.255375611174145, 2.3953095107505495, -1.5318754844754232)
(credit to Juan Afable for helping me with these)

Advanced

For extra credit, you can add super bats!! If you are near superbats you hear flapping (green circle). If you enter the room with the super bats, they pick you up and transport you to a new random location. Bats don't pick up the wumpus because of his legendary suckers.