frontier_exploration

Implementation of frontier exploration (http://www.robotfrontier.com/papers/cira97.pdf) for ROS, extending on the existing navigation stack (costmap_2d, move_base).

Wiki: http://wiki.ros.org/frontier_exploration

API Doc: http://docs.ros.org/hydro/api/frontier_exploration/html/annotated.html

Video:

Changelog for package frontier_exploration

0.3.1 (2016-10-26)

• Update to BSD license
• Update LICENSE
• [Travis config] Use Ubuntu 14.04 and test ROS I+
• fixed wrong order of footprint coordinates (was hourglass shape)
• Contributors: Achim Krauch, Isaac I.Y. Saito, Paul Bovbel

0.3.0 (2015-05-04)

• adjust costmap lock to new interface
• Contributors: Michael Görner

0.2.5 (2015-04-08)

• Remove lazy initialization
• Contributors: Paul Bovbel

0.2.4 (2015-04-08)

• Fix compiler optimization issue where perimeter is always 0
• Allow empty polygon goals for unbounded exploration
• Contributors: Paul Bovbel

0.2.3 (2015-02-23)

• Improve explore client user feedback
• removed common_msgs depency since depending on metapackages is deprecated and all needed subpackages are included anyways
• Add travis builds
• Contributors: Henning Deeken, Paul Bovbel

0.2.2 (2014-09-13)

• clean up conditionals and comments for more logical flow
• switch to shared from raw ptr
• Contributors: Paul Bovbel

0.2.1 (2014-04-15)

• Update example launch files
• Update package.xml
• Contributors: Paul Bovbel

0.2.0 (2014-04-04)

• rename test file
• add more costmap_tools tests
• refactor with frontier_search strategy object
• remove calls to parent costmap instance
• refactored to raii
• fix gmapping compatibility using new "explore_clear_space" parameter
• Contributors: Paul Bovbel

0.1.9 (2014-04-02)

• fix regression
• refactor for testing
• fix stuck movement with 0 frequency
• new launch file examples
• Contributors: Paul Bovbel

0.1.8 (2014-03-28)

• revert launch file to general form
• document helper functions
• Contributors: Paul Bovbel

0.1.4 (2014-03-27)

• fix properly transforming robot position into goal frame
• Contributors: Paul Bovbel

0.1.3 (2014-03-27)

• revert redundant dependency
• Contributors: Paul Bovbel

0.1.2 (2014-03-27)

• fix message dependencies
• fix goal aliasing corner case
• fix empty frame name
• Update README.md
• accomodate for empty boundaries
• parametrize goal aliasing for redundant move base goals
• Contributors: Paul Bovbel

0.1.1 (2014-03-26)

• fix build dependency
• eliminate redundant move_base goal updates, fix locking
• externalize static for geometric calculations
• refactor action server with callbacks
• fix pre-emption with continuous goal updating
• implement continuous frontier/goal updating
• Contributors: Paul Bovbel

0.1.0 (2014-03-25)

• added install target for client
• Contributors: Paul Bovbel

0.0.4 (2014-03-25)

• remove robot specific names
• remove raytrace and obstacle range params
• reintroduce frontier selection parametrization
• added client for rviz interaction via point tool
• Contributors: Paul Bovbel

0.0.3 (2014-03-25)

• parametrize method of selecting frontier point to travel to
• use ros msg for Frontier structure
• remove unnecessary costmap copying
• remove debug messages, update comments
• update package name
• Contributors: Paul Bovbel

0.0.2 (2014-03-21)

• fix locking issue
• rename package
• update dependencies
• move sample parameters to launch file
• remove temp files
• refactoring
• fix off-map error and add costmap locking
• added resize parameter for working with external maps
• refactor message fields
• refactored message names
• add resize parameter for using layer with external maps
• refactor names
• remove even more debug code
• remove debug code
• remove debug points
• Updated maintainer info
• Update documentation and comments
• move test portion
• refactor for pre-emption
• clean up temp files
• expanded comments, cleaned up temp files
• Initial documentation
• Initial commit
• Contributors: Paul Bovbel