Contents
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)
- 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
- If true, explore will publish the current map and frontiers
- 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.