Overview
This package contains an implementation of a random walk algorithm based on the navigation stack. The algorithm generates a random cell inside the map, checks if the cell is not an obstacle or too close to one, and sends the robot there.
ROS API
random_walk
random_walk is navigation stack based random walk algorithm.Subscribed Topics
map (nav_msgs/OccupancyGrid)- The global map.
- Obstacles.
- Visited cells from particle_plume.
Parameters
move_base/local_costmap/inflation_radius (double, default: 0.20)- The inflation radius used by the navigation stack.