explorer_lite seems to ignore frontier when it's on the edge of the static map. It's a

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Ends exploration early when boundary is on static map edge about m-explore HOT 2 CLOSED

hrnr commented on September 2, 2024 1

Ends exploration early when boundary is on static map edge

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Comments (2)

blablebli-robots commented on September 2, 2024 1

Are you using the costmap as input? if so you may try using the map itself and see if the frontiers are detected. From the picture it looks that you are using the costmap. Some mapping packages such as cartographer publish a map with a wide range of values instead of the usual ternary valued (free, occupied unknown), I have no experience with iris_lama, so you may want to check that.

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Combinacijus commented on September 2, 2024 1

@blablebli-robots you were right using /map and /map_updates solved the problem, thanks!

My final launch file:

<launch>
  <node pkg="explore_lite" type="explore" respawn="false" name="explore" output="screen">
    <param name="robot_base_frame" value="base_link"/>

    <!-- Use mapper map-->
    <param name="costmap_topic" value="map"/>
    <param name="costmap_updates_topic" value="map_updates"/>

    <!-- Use move_base map. This does NOT work-->
<!--    <param name="costmap_topic" value="move_base/global_costmap/costmap"/>-->
<!--    <param name="costmap_updates_topic" value="move_base/global_costmap/costmap_updates"/>-->

    <param name="visualize" value="true"/>

    <param name="planner_frequency" value="0.5"/>
    <param name="progress_timeout" value="30.0"/>

    <param name="potential_scale" value="3.0"/>
    <param name="orientation_scale" value="0.0"/>
    <param name="gain_scale" value="1.0"/>
    <param name="transform_tolerance" value="0.3"/>
    <param name="min_frontier_size" value="0.5"/>
  </node>
</launch>