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stacks/packages Turtlebot explores floor and maps autonomously?

asked 2012-08-02 07:52:51 -0500

Sardonyx gravatar image

Hello, ROS ANSWERS community! I'm looking for stacks or packages for Turtlebot that will have it autonomously navigate a single floor of a building and create a 2D map of it, probably working in conjunction with the gmapping_demo or similar program. I want to have the robot be able to do the mapping all on its own without the need for a teleop. If anyone has knowledge of any such stacks or packages here on ROS, I would appreciate the help in finding them. Thank you in advance, and have a wonderful day!

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answered 2013-06-10 09:06:52 -0500

Zayin gravatar image

updated 2013-06-11 04:41:52 -0500

Your message is quite old, but I will answer it anyway. Look up the Explore package which implements frontier based exploration. You can use it with SLAM to have your robot build a map autonomously.

http://www.ros.org/wiki/explore

I also modified the package to use it with a real turtlebot, but it doesn't work perfectly. https://github.com/LadyZayin/explore

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I'll upvote this, if you add a link to the ROS wiki or code. :-)

bit-pirate gravatar image bit-pirate  ( 2013-06-10 23:46:14 -0500 )edit

Alright lol! Yeah, I was being lazy.

Zayin gravatar image Zayin  ( 2013-06-11 04:39:52 -0500 )edit

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Asked: 2012-08-02 07:52:51 -0500

Seen: 391 times

Last updated: Jun 11 '13