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


~<name>/explore_map (nav_msgs/GetMap)
  • Allows an external user to ask for the current map


~<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


See explore_stage for examples how to use the explore node.

Wiki: explore (last edited 2010-03-12 03:41:04 by CharlesDuHadway)