frontier_exploration

Thread safe frontier exploration package based on fast and efficient Wavefront Frontier Detection.

Resolving dependencies

Use rosdep to resolve ROS dependencies

References

@misc{topiwala2018frontier,
      title={Frontier Based Exploration for Autonomous Robot}, 
      author={Anirudh Topiwala and Pranav Inani and Abhishek Kathpal},
      year={2018},
      eprint={1806.03581},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Demo using Turtlebot3

• Shell #1 : Gazebo

roslaunch turtlebot3_gazebo turtlebot3_world.launch

• Shell #2 : SLAM + RViz

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

• Shell #3 : move_base

roslaunch turtlebot3_navigation move_base.launch 

• Shell #4 : Frontier exploration

roslaunch frontier_exploration explore_costmap.launch