Is there a way to modify Frontier_exploration such that it can work autonomously?

Question

Hi.

I am trying to implement a robot that will map and navigate an environment on its own. I have searched a lot about existing ros packages and I THINK FRONTIER_EXPLORATION would do this for me. However, frontier_exploration requires manual instructions in terms of making the polygon etc. so i was wondering is there a way i can run frontier exploration and the robot just maps and navigate the environment on its own?

Or is there any other package that does this?

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Originally posted by hasnain on ROS Answers with karma: 13 on 2018-03-26

Post score: 1

Answer 1

If you ask frontier_exploration to explore an empty polygon, it will explore indefinitely. Either that, you can write your own high-level controller to generate polygons and areas to explore.

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Originally posted by paulbovbel with karma: 4518 on 2018-04-05

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by taka1995 on 2019-09-24:
hi，how can I save the map automatically?I don't know what topic to subscribe to for the map to complete the discovery.