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rtabmap frontier exploration

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:

  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 ?