laurimi / ase_exploration Goto Github PK
View Code? Open in Web Editor NEWPlanning for robotic exploration based on forward simulation
License: BSD 3-Clause "New" or "Revised" License
Planning for robotic exploration based on forward simulation
License: BSD 3-Clause "New" or "Revised" License
Hi Lauri,
I'm trying to use your exploration algortihm with the map generated by RTABMAP SLAM method on turtlebot platform in real environment. After the turtlebot explores some area(e.g. 5 square metres), the exploration planner will keep warning like this:
Here's the video record: https://www.youtube.com/watch?v=J7WNhbbr0RQ
Costmap keep resizing as the map update problem occurs. I use teb local planner instead of DWA local planner.
Could you provide me some suggestions on parameters tuning? Thank you in advance!
And the exploration method is definitinely the "smartest" human like method I've ever seen! Thank you for writing and publishing this algorithm.
When the ase_exploration fails the frontier exploration doesnt start automatically there is some issue with the launch files
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