Revision history [back]

I could imagine the problem with the explore package is that it considers everything covered by LIDAR data as explored. If you're interested in getting a floor plan that's fine. OTOH, if you are interested in coverage of the environment by a sensor with much shorter range (and different FOV) than your LIDAR, this approach of course won't work well. In that case, you'd have to generate a separate appropriate map and feed that to the exploration approach you're using.

On a related note, we plan on publishing our exploration transform implementation successfully used in the RoboCup Rescue competition in the coming weeks, so later you could also try that.