Autonomous mapping an unknown environment with Turtlebot2? [closed]

asked 2016-03-16 12:35:26 -0500

pgigioli gravatar image

I'm looking for a way to map out an unknown environment autonomously using a Turtlebot2. Right now, I use the gmapping_demo from the turtlebot_navigation package, rviz, and teleop to manually map out an environment but I would like to use a exploration node that would create this map automatically. I looked into the nav2d package but it looks outdated and incomplete. None of the tutorial launches work for me. Is there a simple explorer package that will work out of the box with any gmapping package? I use the indigo distribution.


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Closed for the following reason question is not relevant or outdated by pgigioli
close date 2016-03-29 10:42:42.435325


This sounds like a duplicate of this question. Are any of those answers helpful?

Cerin gravatar image Cerin  ( 2016-03-16 15:42:14 -0500 )edit

Nav2d does not work with me as I have mentioned but frontier_exploration seems like it might work. Do you have any experience with using frontier_exploration? It seems like there is a lot of manual effort required in using it.

pgigioli gravatar image pgigioli  ( 2016-03-16 17:49:50 -0500 )edit

What problems do you have with nav2d? It should definitely work with indigo and seems to do so for others.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2016-03-17 03:42:56 -0500 )edit

None of the tutorials work for me. Something about the p2os_urdf package. It looks for a certain node inside the p2os_urdf package but is unable to find it.

pgigioli gravatar image pgigioli  ( 2016-03-17 08:45:54 -0500 )edit

That is just a problem with the visualization. You can remove the p2os-model (marked in the launch file) and then it should work.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2016-03-18 03:11:03 -0500 )edit

Yeah, I eventually figured that out from this post. rosservice /StartMapping works but when I run rosservice /StartExploration, it cant find a path. On rviz, it says it cannot transform [] to [map] so a map is not generated.

pgigioli gravatar image pgigioli  ( 2016-03-18 11:22:49 -0500 )edit

I noticed that you were the one that answer that post that I linked so i was wondering whether you knew what other modifications, other than those made to the tutorial3.launch file, the user made?

pgigioli gravatar image pgigioli  ( 2016-03-18 11:27:48 -0500 )edit

There seems to be a problem with the transformations. "... [] to [map] ..." indicates that some frame name is not set. Please do a "rosrun tf view_frames" and post the created pdf file.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2016-03-29 10:18:13 -0500 )edit