Questions tagged [exploration]

The act of maximizing an agent's knowledge of its environment.

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Robot exploration algorithm

This might be a more theoretical question than a practical one, but I couldn't find a more fitting Stack Exchange (if you know of one, please point me in the right direction?). I have control of a ...
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Trace terminal output to program

Does anyone know how I can trace the terminal output to the actual program where it is coming from? I have listed all nodes, search through the program's source codes with VS Code and terminal search, ...
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explore_lite does not work with cartographer

As mentioned in https://github.com/hrnr/m-explore/issues/28 there is a bug where explore_lite does not work with cartographer. I tried to modify code of explore_lite, but it wasn't successful. Does ...
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husky exploration demo in melodic

Although Husky is not technically supported yet for ROS melodic, it did work to run the Husky demos 1-3 here so I am hopeful I can get the 4th demo to run, frontier exploration. But in running that ...
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Autonomous navigation with Turtlebot3 algorithm

Hi, i tried to develop in C++ with success (basically i'm still a beginner with ROS development) a way for autonomous exploration of n turtlebot3 in an unknown environment (like turtlebot3 house for ...
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nav2d exploration with turtlebot and lidar: no map available

Hey guys, we have a project at our university for a autonomous SLAM Turtlebot2 with a Lidar A2 Laserscanner by slamtec. We tried the nav2d_tutorials and the tutorial3 is our perfect setup. its working ...
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Integrate free space into octomap

Hello, I am looking into how octomap integrates information from PointCloud2 into the Octree structure of octomap. Specifically for free space coming from a LIDAR. Let's take the velodyne_pointcloud ...
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Matlab: Simulate received signals of sonar sensors [closed]

StackExchange community! I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot ...
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ROS wandering / exploring robot program?

I'm using my bot to assemble a 3d map of it's surroundings using RTABMAP. Is there another ROS program I can have subscribe to the output of RTABMAP which then autonomously explores unknown areas of ...
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slam_karto marks grid cell underneath real robot as occupied

A picture is worth a thousand words, so here are 3000 words :P When slam_karto starts (on a real robot, not simulation), it marks a few cells underneath the robot ...
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Bounded frontier_exploration using code rather than rviz point tool

The code below should define a polyStamped name "boundary" that includes points p1, p2, p3, and p4. Here is my code: ...
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Error in exploration and SLAM

Hi! I would like to do an exploration. These are the steps I followed: ...
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Exploration or navigation

Hi! I used hector slam to make a map of the environment. Now, I want to repeat the map using navigation or exploration. I installed hector_navigation and navigation packages but I don't know if I have ...
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Exploration and SLAM

Hi! I would do the navigation and exploration of an environment and in the meantime to make a map of the environment. I can already carry a map with a launch file called neato.launch but I am moving ...
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How to guide a camera through a circular tube?

Let's say I have a 6-DOF flying camera and I want to make it move through a circular tube autonomously and let's suppose that the camera and the system that makes it fly are considered to be just a ...
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How does information gain based exploration differ from frontier based?

I've recently come across the concept of using information gain (or mutual information criteria) as a metric for minimizing entropy on a map to aid in robotic exploration. I have somewhat of a basic ...
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How can i get infomation of the subscription of a node

I have to write code to get the simulation of a robot that explores certains worlds with the stage simulator. The point is that i want to get information of the laser scanner and i don't know how to ...
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Multi-robot exploration with explorer and adhoc_communication?

Hi , i am trying to setup a multi-robot-exploration like shown in the video of the explorer package (http://wiki.ros.org/explorer). Did someone successfully get that setup running? (explorer + ...
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How to store explored nodes in ROS?

Hi, I am using nav2d to explore a map. Is there any way I can store the order of explored nodes in a data structure? I was thinking we can whether I can use rosbag for this somehow. Please let me know ...
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nav2d autonomouse exploration

Hi, I installed and tried nav2d navigation package exploration feature, with a real robot setup (kobuki base, urg-04lx) as per ros wiki instructions. i modified the tutorial3 launch and param files, ...
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problem with frontier_exploration pkg

Hi, I setup frontier_exploration on my Kobuki base with URG-04LX lidar. worked the Clearpath's Husky_Navigation demo tutorial to get to the point of testing autonomous exploration with the ...
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How to publish frontier locations from occupancy maps

Hello, I'm trying to figure out how to publish either markers or other data representing unexplored frontiers to rviz or another node. By frontier, I mean the boundary between open and unexplored ...
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nav2d autonomous multi robot exploration

Hi everyone, I started using the nav2d package and did the four tutorials with success. In the 3rd tutorial you can make a robot autonomously explore an unknown map. In the 4th, you can move two ...
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Multi Robot Mapping in Navigation_2d Tutorials

The tutorials for the navigation_2d package are provided here. The first 3 work flawlessly and, being a beginner, they have taught me a lot. However, the next 2 tutorials have very little ...
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Simultaneous Autonomous Exploration and Mapping in Gazebo

Using Gazebo, I place a husky robot in a completely unknown environment (currently the willowgarage map). My basic objective is to make the husky autonomously navigate itself through the entire world ...
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nav2d and Turtlebot

Hi everyone, I'm looking to use nav2d package(wiki.ros.org/nav2d) with my turtlebot. But i have no idea how to mapping (or config) nav2d with turtlebot. So has anyone experienced this problem? Thanks ...
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[Turtlebot] Autonomous map building

Hi everyone, I'm looking to have my turtlebot autonomously build a map of an area, without needing to be manually teleoperated or working on an existing map. I have used frontier_exploration package (...
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New exploration package

I have created a simple but functional/complete node for frontier exploration using the hydro costmap_2d layers, but I'm unsure how 'mature' something should be before I should be releasing it. I ...
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Updating Costmap2D with a static map

Hello everyone, I'm working on exploration of unknown maps with mobile robots. I would like to know if there is a way to update a costmap from a static map (e.g. the one created by gmapping) in place ...
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How can i run hector navigation for exploration?

How can i run hector navigation? I run urg_node and hector_slam but i don't know how can i run hector navigation for exploration.I searched very much but i can't find anything... Originally posted by ...
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hector exploration with move base

Hi, there, I am trying out hector exploration on my robot and I have a few questions regarding the configuration. I have used the explore package before and the result is ok. The hector exploration, ...
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GMapping map changes over time

Hello all! I've been conducting some exploration and mapping indoors using GMapping. However, I realize that as the robot moves and builds the map, certain areas of the map changes as the robot moves ...
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Is AMCL necessary for exploration if gmapping is already running?

Hello, I've got a Turtlebot 2 with a Kinect on ROS groovy, and I'm trying to understand the basics of navigation. I've been going over the navigation tutorials but one thing that consistently confuses ...
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Turtlebot Explore - Gmappings

Hi All. I'm trying to make the explore node to work with my turtlebot. Im working with Groovy version of ROS. My structure configuration is Groovy running over Ubuntu 12.04 running over VMWare ...
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Explore package on Gazebo & Turtlebot

I have managed to use the explore package (frontier based exploration) with stage without problem. Now, I would like to use it with Gazebo and in the real world. I am using robots similar to the ...
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is there any ROS package for exploration in Groovy (ubuntu 12.10)?

Hi, I have been searching for a ROS package for exploration in ubuntu 12.10 and I have not found one yet - see my related question So, does anyone know about one which is compatible with ROS-groovy ? ...
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Exploration tutorial for gazebo/erratic or P3DX

Does anybody know of any tutorials (or have personal experience) for using the exploration stack with gazebo and the erratic model or with a P3DX like actual robot. My team is trying to map a very ...
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What's the best way of dealing with the Kinects "blind spot"?

I'm wondering what the best way of dealing with the minimum scan distance limitations of the Kinect (i.e within ~0.6m it can't detect objects). Specifically I'm attempting to use explore and ...
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Navigation costmap parameter unknown_cost_value

Hello Does anyone know why the costmap_2d parameter "unknown_cost_value" cannot be set to 0 or lower. My understanding is that a costmap with static_map set to true will take in an ...
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exploration stack issues

Hello, I'm Cem and fairly new to ROS. I've been trying to get turtlebot to do mapping on gazebo environment. I somehow managed to make things work however there are several major issues which makes ...
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ROS Answers SE migration: explore stack

hi, i am trying to use the explore stack in gazebo, but i get the following warnings: ...
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Navigation Stack does not use a map from Gmapping?

In navigation stack, the tutorial is based on a static map and amcl for localization. When using with slam, some people suggested just exclude the static map and amcl and run gmapping. I already did ...
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segmentation fault on running stageros

I am trying to run exploration demo in explore_stage as described in (http://www.ros.org/wiki/explore_stage). When I run "roslaunch explore_stage explore.launch" I get the following error. [...
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