Autonomous mapping an unknown environment with Turtlebot2? [closed]
I'm looking for a way to map out an unknown environment autonomously using a Turtlebot2. Right now, I use the gmapping_demo from the turtlebot_navigation package, rviz, and teleop to manually map out an environment but I would like to use a exploration node that would create this map automatically. I looked into the nav2d package but it looks outdated and incomplete. None of the tutorial launches work for me. Is there a simple explorer package that will work out of the box with any gmapping package? I use the indigo distribution.
Thanks!
This sounds like a duplicate of this question. Are any of those answers helpful?
Nav2d does not work with me as I have mentioned but frontier_exploration seems like it might work. Do you have any experience with using frontier_exploration? It seems like there is a lot of manual effort required in using it.
What problems do you have with nav2d? It should definitely work with indigo and seems to do so for others.
None of the tutorials work for me. Something about the p2os_urdf package. It looks for a certain node inside the p2os_urdf package but is unable to find it.
That is just a problem with the visualization. You can remove the p2os-model (marked in the launch file) and then it should work.
Yeah, I eventually figured that out from this post. rosservice /StartMapping works but when I run rosservice /StartExploration, it cant find a path. On rviz, it says it cannot transform [] to [map] so a map is not generated.
I noticed that you were the one that answer that post that I linked so i was wondering whether you knew what other modifications, other than those made to the tutorial3.launch file, the user made?
There seems to be a problem with the transformations. "... [] to [map] ..." indicates that some frame name is not set. Please do a "rosrun tf view_frames" and post the created pdf file.