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rtabmap frontier exploration

asked 2017-04-24 13:34:56 -0500

ChriMo gravatar image

Hello community,

has somebody tried to combine RTABMAP and frontier_exploration ? How can I solve the problem of discovering an unknown area to build a map first ?


  1. discover the area with frontier_exploration and build a map.
  2. navigation in a known environment with discovered map.

Does this make sense ???

Thanks for any hints or feedback.

Cheers Christian

ps: is google cartographer a complete solution ?

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Whether or not Cartographer is a complete solution depends on what problem you are trying to solve.

Geoff gravatar image Geoff  ( 2017-04-24 20:39:05 -0500 )edit

I'd like to solve the problem: lawnmower at unknown environment. Starting always at the defined location of the base station and return after work :-)

ChriMo gravatar image ChriMo  ( 2017-04-25 04:22:54 -0500 )edit

For the mapping part of that problem, Cartographer will do the job. It's a very good mapping tool. Exploration will need to be handled separately.

Geoff gravatar image Geoff  ( 2017-04-25 05:46:37 -0500 )edit

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answered 2017-04-24 20:38:37 -0500

Geoff gravatar image

frontier_exploration claims to work with or without the /map topic available. RTABMAP can publish a 2D map that could be used by frontier_exploration (the Turtlebot demo does this). Have a look at the frontier_exploration docs, section 2.2, and the Turtlebot demo for RTABMAP.

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Thanks, I will give it a try.

ChriMo gravatar image ChriMo  ( 2017-04-25 04:23:23 -0500 )edit

Hi, can you share your experience if you have tried it? Tnx.

Dox gravatar image Dox  ( 2018-07-05 14:38:31 -0500 )edit

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Asked: 2017-04-24 13:34:56 -0500

Seen: 837 times

Last updated: Apr 24 '17