frontier_exploration¶

Contents:

Summary
Types

Summary ¶

frontier_exploration¶

BuildtoolDepends:
Version:	0.3.0
Description:	Frontier exploration implementation in ROS, accepts exploration goals via actionlib (Rviz UI provided), sends movement commands to move_base.
Maintainers:	Paul Bovbel <paul AT bovbel DOT com>
Licenses:	GPLv3
Urls:	website<http://ros.org/wiki/frontier_exploration> bugtracker<https://github.com/paulbovbel/frontier_exploration/issues> repository<https://github.com/paulbovbel/frontier_exploration>
Authors:	Paul Bovbel <paul AT bovbel DOT com>
BuildDepends:	`costmap_2d` `dynamic_reconfigure` `geometry_msgs` `roscpp` `std_msgs` `tf` `message_generation` `actionlib` `actionlib_msgs` `visualization_msgs` `move_base_msgs` `libpcl-all-dev`
	`catkin`
BuildExportDepends:
	`costmap_2d` `dynamic_reconfigure` `geometry_msgs` `roscpp` `std_msgs` `tf` `message_runtime` `actionlib` `actionlib_msgs` `visualization_msgs` `move_base_msgs` `libpcl-all`
ExecDepends:	`costmap_2d` `dynamic_reconfigure` `geometry_msgs` `roscpp` `std_msgs` `tf` `message_runtime` `actionlib` `actionlib_msgs` `visualization_msgs` `move_base_msgs` `libpcl-all`
Exports:	<costmap_2d plugin=”${prefix}/costmap_plugins.xml”/>

Types ¶

Message types ¶

frontier_exploration/Frontier

frontier_exploration/Frontier¶

Field:	size (uint32) – min_distance (float64) – initial (geometry_msgs/Point) – centroid (geometry_msgs/Point) – middle (geometry_msgs/Point) –

uint32 size
float64 min_distance
geometry_msgs/Point initial
geometry_msgs/Point centroid
geometry_msgs/Point middle

Service types ¶

frontier_exploration/UpdateBoundaryPolygon
frontier_exploration/GetNextFrontier

frontier_exploration/UpdateBoundaryPolygon¶

Field (Request):
	explore_boundary (geometry_msgs/PolygonStamped) –

geometry_msgs/PolygonStamped explore_boundary
---

frontier_exploration/GetNextFrontier¶

Field (Request):
	start_pose (geometry_msgs/PoseStamped) –
Field (Response):
	next_frontier (geometry_msgs/PoseStamped) –

geometry_msgs/PoseStamped start_pose
---
geometry_msgs/PoseStamped next_frontier

Action types ¶

frontier_exploration/ExploreTask

frontier_exploration/ExploreTask¶

Field (Feedback):
Field (Goal):	explore_boundary (geometry_msgs/PolygonStamped) – explore_center (geometry_msgs/PointStamped) –
	next_frontier (geometry_msgs/PoseStamped) – base_position (geometry_msgs/PoseStamped) –

Boundary for frontier exploration

#Boundary for frontier exploration
geometry_msgs/PolygonStamped explore_boundary
#Center point for frontier exploration, inside explore_boundary
geometry_msgs/PointStamped explore_center
---
---
#Current target frontier to explore
geometry_msgs/PoseStamped next_frontier
#Current position of robot
geometry_msgs/PoseStamped base_position

frontier_exploration¶

Summary¶

Types¶

Message types¶

Service types¶

Action types¶

Summary ¶

Types ¶

Message types ¶

Service types ¶

Action types ¶