Stage exploration

edit

I want to explore a map in stage like in this tutorial: http://wiki.ros.org/stage/Tutorials/M... but the link to the stage_controllers doesn't work and I can't find them in another way. I tried frontier_exploration but I find it tricky to use and it often crashes. I am using kinetic and nav2d is not supported. Anyone has some ideas?

EDIT: I have successfully installed nav2d but I want to explore the map while building it, I changed the third tutorial file:`<launch>

<!-- Some general parameters -->
<param name="use_sim_time" value="true" />
<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

<!-- Start Stage simulator with a given environment -->
<node name="Stage" pkg="stage_ros" type="stageros" args="/home/ros/catkin_ws/prova.world">
    <param name="base_watchdog_timeout" value="0" />
</node>

<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
    <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
</node>

<!-- Start Mapper to genreate map from laser scans -->
<node name="Mapper" pkg="gmapping" type="slam_gmapping">
    <remap from="scan" to="base_scan"/>
</node>

<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>

<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

<!-- Start the joystick-driver and remote-controller for operation-->
<node name="Joystick" pkg="joy" type="joy_node" />
<node name="Remote" pkg="nav2d_remote" type="remote_joy" />

<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />

</launch> using gmapping instead of karto. The problem is that now it keeps spinning instead of going straight and after a while it crashes.

costamp.yaml

global_frame: odom
robot_base_frame: base_link
update_frequency: 1.0
publish_frequency: 1.0

publish_voxel_map: true


static_map: false


rolling_window: true
width: 6.0
height: 6.0  
resolution: 0.05


map_type: costmap
track_unknown_space: true

transform_tolerance: 0.3
obstacle_range: 4.0
min_obstacle_height: 0.0
max_obstacle_height: 2.0
raytrace_range: 4.5

robot_radius: 0.2
inflation_radius: 0.4
cost_scaling_factor: 2.0
lethal_cost_threshold: 100
observation_sources: scan
scan: {data_type: LaserScan, expected_update_rate: 0.4,observation_persistence: 0.0, marking: true,clearing:true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}

navigator.yaml

map_inflation_radius: 0.5
robot_radius: 0.1
navigation_goal_distance: 2.0

navigation_goal_angle: 1.0

navigation_homing_distance: 4.0


exploration_goal_distance: 3.0


min_target_area_size: 1.0
visualize_frontiers: true

operator.yaml

max_velocity: 1.0

publish_route: true

max_free_space: 2.0
safety_decay: 0.97

distance_weight: 1
safety_weight: 2
conformance_weight: 1
continue_weight: 0

rqt_graph: https://s30.postimg.org/5lo2oidw1/gra...

rqt_console: https://s28.postimg.org/r00b5gs4t/201...

tf tree: https://s29.postimg.org/e3aqbbnon/201...