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Maybe you can use some 'explore' packages using frontier method? However, I'm not sure how you are navigating in a known map. If you're using move_base, you'll be able to to explore packages such as explore_lite or frontier_exploration.

Maybe you can use some 'explore' packages using frontier method? However, I'm not sure how you are navigating in a known map. If you're using move_base, you'll be able to to use explore packages such as explore_lite or frontier_exploration.