frontier exploration theory and usage
Hi,
I'm trying to understand how I can use the package frontier_exploration in order to use it for my project. I have studied the paper describing this theory by Yamauchi (1997). I would like to know whether this implementation of frontier exploration is based on the most basic theory (i.e. the greedy approach where the robot chooses its closest frontier) or whether some objective function is being used to decide upon the choice of the frontier to explore.
Thanks.
--EDIT:
When I tried to run the global_map.launch file and provided a polygon boundary + a start point, I got the following result:
[ WARN] [1425309222.899948026]: Please select an initial point for exploration inside the polygon
[ INFO] [1425309234.966230727]: Sending goal
[ INFO] [1425309235.049964691]: Using plugin "static"
[ INFO] [1425309235.207880621]: Requesting the map...
[ INFO] [1425309235.485626067]: Resizing costmap to 4000 X 4000 at 0.050000 m/pix
[ INFO] [1425309235.712224527]: Received a 4000 X 4000 map at 0.050000 m/pix
[ INFO] [1425309235.712476446]: Subscribing to updates
[ INFO] [1425309235.727304703]: Using plugin "explore_boundary"
[ INFO] [1425309235.923136494]: Using plugin "sensor"
[ INFO] [1425309235.969323279]: Subscribed to Topics: laser
[ INFO] [1425309236.050620763]: Using plugin "inflation"
[ WARN] [1425309236.434748546]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.2870 seconds
Nothing worked and the exploration was not performed. The nodes that I am running include: rosAria (robot control), sicktoolbox_wrapper (laser driver), tf node, gmapping to build the map. Do i need to run some other node to perform actionlib?
