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Hello! I've had a lot of luck with this autonomous exploration package explore_light ( https://github.com/hrnr/m-explore ) on my turtlebot3. It is an improved version of the frontier_exploration package. Maybe it's source code will provide some inspiration for you if you'd rather build your own.

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Hello! I've had a lot of luck with this autonomous exploration package explore_light ( https://github.com/hrnr/m-explore ) explore_light on my turtlebot3. It is an improved version of the frontier_exploration package. Maybe it's source code will provide some inspiration for you if you'd rather build your own. own.