Trajectory to reach the frontier

asked 2016-03-20 10:12:57 -0500

papaclaudia gravatar image

updated 2016-03-21 06:44:35 -0500

Hi! I am using frontier_exploration and everything seems to work fine (I have no errors in the terminals) in fact I follow these steps:

$ roscore
$ rosrun xv_11_laser_driver neato_laser_publisher _port:=/dev/ttyUSB0 _firmware_version:=2
$ roslaunch hector_slam_launch slam.launch
$ roslaunch frontier_exploration move_base.launch
$ roslaunch frontier_exploration no_global_map.launch

but in rviz I would like to see the trajectory that guides the robot at the frontier. What is missing: any node or some setting in rviz? My base_local_planner_params.yaml file is:

TrajectoryPlannerROS:

  #####velocity params
  max_vel_x: 0.3
  min_vel_x: 0.1
  max_rotational_vel: 0.3
  min_in_place_vel_theta: 0.3
  max_vel_theta: 0.4
  min_vel_theta: -0.4
  #acc_lim_theta: 2
  #acc_lim_x: 0.5
  #acc_lim_y: 0.5

  #####goal tollerance
  #yaw_goal_tolerance: 0.05
  #xy_goal_tolerance: 0.20
  latch_xy_goal_tolerance: true

  ####Trajectory Scoring Parameters
  meter_scoring: true
  occdist_scale: 0.20
  dwa: false

  holonomic_robot: false

Thank you!

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