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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 ?
Idea:
Does this make sense ???
Thanks for any hints or feedback.
Cheers Christian
ps: is google cartographer a complete solution ?
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.
Asked: 2017-04-24 13:34:56 -0500
Seen: 919 times
Last updated: Apr 24 '17
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Whether or not Cartographer is a complete solution depends on what problem you are trying to solve.
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 :-)
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.