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exploration: explore | explore_stage

Package Summary

A node that provides frontier based exploration.

• Author: Charles DuHadway (maintained by Benjamin Pitzer)
• License: BSD
• Repository: bosch-ros-pkg
• Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/exploration/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.