Package Summary

Documented

A node that provides frontier based exploration.

Author: Charles DuHadway (maintained by Benjamin Pitzer)
License: BSD
Source: svn http://svn.code.sf.net/p/bosch-ros-pkg/code/branches/electric/stacks/exploration

exploration: explore | explore_stage

Package Links

Dependencies (11)
Used by (2)

Package Summary

Documented

A node that provides frontier based exploration.

Author: Charles DuHadway (maintained by Benjamin Pitzer)
License: BSD
Source: svn http://svn.code.sf.net/p/bosch-ros-pkg/code/trunk/stacks/exploration

exploration: explore | explore_stage

Package Links

Dependencies (11)
Used by (2)

Package Summary

Documented

A node that provides frontier based exploration.

Author: Charles DuHadway (maintained by Benjamin Pitzer)
License: BSD
Source: svn http://svn.code.sf.net/p/bosch-ros-pkg/code/trunk/stacks/exploration

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Contents

Nodes
1. explore

Nodes

explore

The explore node implements frontier based exploration. It actively builds a map of its environment by visiting unknown areas.

Published Topics

visualization_marker (visualization_msgs/Marker)

Arrows that show current frontiers (blue) and currently selected frontier(green)

~<name>/map (nav_msgs/OccupancyGrid)

Current map

Services

~<name>/explore_map (nav_msgs/GetMap)

Allows an external user to ask for the current map

Parameters

~<name>/planner_frequency (double, default: 1.0)

Frequency at which to update goals

~<name>/visualize (boolean, default: true)

If true, explore will publish the current map and frontiers

~<name>/navfn/robot_base_frame (string, default: "base_link")

The frame of the robot base

Action API

The explore node implements a SimpleActionClient (see actionlib documentation) that generates goals containing geometry_msgs/PoseStamped messages.

Action Published Topics

move_base/goal (move_base_msgs/MoveBaseActionGoal)

A goal to pursue in the world.

Component Parameters

The explore node contains components that have their own ROS APIs and parameters. These components are:

costmap_2d - Parameters should be set under ~<name>/explore_costmap
navfn - Parameters should be set under ~<name>/explore_planner

Examples

See explore_stage for examples how to use the explore node.