Ask Your Question
0

How to publish frontier locations from occupancy maps

asked 2014-09-19 13:33:33 -0500

crzx5 gravatar image

updated 2014-09-19 15:28:51 -0500

Hello,

I'm trying to figure out how to publish either markers or other data representing unexplored frontiers to rviz or another node. By frontier, I mean the boundary between open and unexplored space in a 2D occupancy map. I know that hector_exploration_planner does this internally and generates a single goal, after which hector_exploration_controller moves the robot to the said goal. However, I would like to play an intermediary role in the goal-determination process and then manually move the vehicle to the goal I select. Does anyone have any recommendations for ros packages that determine and publish all frontiers, or alternatively, information on how to use hector_exploration_explorer to publish this information?

Much appreciated! Please let me know if any additional information would be useful.

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
0

answered 2014-09-22 08:54:35 -0500

paulbovbel gravatar image

frontier_exploration publishes frontier locations as a pointcloud, but also only for visualization purposes. You would have to modify the explore_server state machine in order to make external frontier decisions.

edit flag offensive delete link more
1

answered 2014-09-22 02:22:38 -0500

Sebastian Kasperski gravatar image

I used nav_msgs/GridCells to publish all frontier cells and show them in RVIZ. But this was only for visualization, not to do any further processing in another node.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-09-19 13:33:33 -0500

Seen: 225 times

Last updated: Sep 22 '14