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New exploration package

asked 2014-03-07 09:27:31 -0600

paulbovbel gravatar image

updated 2014-03-22 05:48:45 -0600

I have created a simple but functional/complete node for frontier exploration using the hydro costmap_2d layers, but I'm unsure how 'mature' something should be before I should be releasing it.

I thought it was a huge pain that 'explore' was unmaintained, and all the other exploration packages were coupled to larger stacks.

I've ad-hoc tested it pretty thoroughly, and would like to squeeze out some time in a month or so to implement some proper tests and documentation, but for now I'd just like to get the code out there and find out if anyone else is interested in using, contributing, pointing out glaring mistakes, or suggesting functionality.

Is this ready to be released into the wild via bloom?

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This looks awesome!

ahendrix gravatar image ahendrix  ( 2014-03-07 09:29:54 -0600 )edit

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answered 2014-03-07 11:22:19 -0600

ahendrix gravatar image

Before you do a release, you'll need to add install rules to your CMakeLists.txt. These specify all of the things that will end up in your deb. Messages and services are installed by default, you'll have to write installation rules for everything else such as launch files, executables, libraries, headers, plugin XML files, URDFs, and other resources.

The catkin common tasks howto does a good job of describing most of the common cases.

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You should actually try to install your package using `catkin_make install` and then try to use your package from the install space to ensure that everything works as expected.

Dirk Thomas gravatar image Dirk Thomas  ( 2014-03-07 11:58:21 -0600 )edit

answered 2014-03-12 22:17:04 -0600

lewis longman gravatar image

Hello, I want to use your node. Now I want to my turtlebot explore and map the unknown environment automatically. My ros version is groovy, can you help me? I hope you can tell me the method you use and how to implement the node on my turtlebot. Thanks very much. My mail is, hope your reply.

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The sensor I use is laser, hokuyo

lewis longman gravatar image lewis longman  ( 2014-03-12 22:26:09 -0600 )edit

This is not easily possible since this implementation uses costmap_2d layers, which were only added in hydro. If you're using hydro, there is a sample config file in the repository. You could set the costmap to receive updates on the /map topic for gmapping.

paulbovbel gravatar image paulbovbel  ( 2014-03-18 10:22:30 -0600 )edit

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Asked: 2014-03-07 09:27:31 -0600

Seen: 670 times

Last updated: Mar 22 '14