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Check out the husky's frontier exploration demo (http://wiki.ros.org/husky_navigation/Tutorials/Husky%20Frontier%20Exploration%20Demo), and you can work backwards from the launch files to port it to a turtlebot.

Check out the husky's frontier exploration demo (http://wiki.ros.org/husky_navigation/Tutorials/Husky%20Frontier%20Exploration%20Demo), and you can work backwards from the launch files to port it to a turtlebot.


EDIT: Thanks for picking that up, turns out there was a strange issue that was preventing the explore_client from compiling and working properly in the binary release. It's now been fixed, but hasn't been synced to the public ROS packages yet, so please either run frontier_exploration from source, from get the new release from ROS shadow repos , or from the Clearpath packages.

Check out the husky's frontier exploration demo (http://wiki.ros.org/husky_navigation/Tutorials/Husky%20Frontier%20Exploration%20Demo), and you can work backwards from the launch files to port it to a turtlebot.


EDIT: Thanks for picking that up, turns out there was a strange issue that was preventing the explore_client node from compiling and working properly in the binary release. It's now been fixed, but hasn't been synced to the public ROS packages yet, so please either run frontier_exploration from source, from get the new release from ROS shadow repos , or from the Clearpath packages.

PS Make sure you have the 'Exploration' Markers turned on in the husky_viz rviz config