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unbound frontier_exploration goal

asked 2015-05-19 04:06:38 -0600

Swan Baigne gravatar image


I am currently using Ubuntu ARM 14.04 with ROS Indigo ARM. I am using a actionlib client to send a goal to the explore_server of the frontier_exploration package in order to make my robot ( TurtleBot 2 ) do an unbound exploration of its environment. The problem i have is that, after beginning the exploration it works OK for some time before stopping moving. When it stop moving, it in fact receive goals at his current position, thus cycling though the same patern :

gmapping_demo.launch window

Got new plan
Goal reached
Got new plan
Goal reached

Anyone have an idea why it behave like that ?

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answered 2015-05-19 07:51:29 -0600

paulbovbel gravatar image

This is likely due to goals being generated in the footprint of the robot. frontier_exploration's costmap should be clearing the footprint automatically, however I've found this to be inconsistent. I am working on adding a footprint-goal-filter type of mechanism to an upcoming version of frontier_exploration.

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Thanks a lot for your works, i am looking forward to seeing the new version of your package which helped me a lot !

Swan Baigne gravatar image Swan Baigne  ( 2015-05-19 08:23:55 -0600 )edit

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Asked: 2015-05-19 04:06:38 -0600

Seen: 352 times

Last updated: May 19 '15