Simultaneous Autonomous Exploration and Mapping in Gazebo

edit

Thanks, Sebastian! I'll give it a try.

Hi @Sebastian Kasperski, can nav2d exploration package be used for a single robot autonomous exploration of an indoor workplace out of the box? - i have working navigation and mapping packages running. thanks

Hi @sobot, exploration should work out of the box if you use the mapping and navigation from the nav2d package. (see Tutorial3)

thanks a bunch @Sebastian Kasperski , i will give it a try for sure. just a little question, do i also have to add the GetFirstMap action which is mentioned in the tutorial, like the other two GetMap & Explore in the launch file? my ultimate goal is to test an autonomous navigation solution.

@sobot: The GetFirstMap action only drives the robot forward a bit and makes it turn 360° to build an initial map. This is because the exploration cannot work on an empty map. The client-nodes are only simple shortcuts to call these actions from the command line.

@Sebastian Kasperski Correct, i understand the reason for of it. was just wondering about the launch file config to do "Autonomous" exploration on robot. GetFirstMap is not in the sample launch files, do i have to add it just like GetMap? which service number calls it? so much want it to work! thnx.

@sobot: But it is there: tutorial3.launch. It is called get_map_client.

Ok, got me, the naming might be a little inconsistent...