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The frontier_exploration package is designed for robotic systems using ROS2. It provides functionality for analyzing map data, detecting frontiers (unexplored areas), and setting goals towards these frontiers. This is particularly useful in autonomous navigation and exploration tasks in unknown environments.

• ROS2 Humble
• Python 3
• ROS2 packages: nav_msgs, geometry_msgs, action_msgs

Assuming ROS2 Humble and the required dependencies are already installed:

cd ~/ros2_wsgit clone https://github.com/Nyanziba/AutoFrontierSearch_ros2-humble.git

cd ~/ros2_wscolcon build --packages-select frontier_exploration

cd ~/ros2_ws/install/setup.bashros2 run frontier_exploration exploration_node

Terminal1

ros2 launch nav2_bringup navigation_launch.py

Terminal2

ros2 launch slam_toolbox online_async_launch.py

Terminal3

ros2 launch nav2_bringup rviz_launch.py

Terminal4

ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

• exploration_node
  • The exploration_node analyzes occupancy grid maps and detects frontiers. It then sets goals towards these frontiers for the robot to explore.

• /map ([nav_msgs/msg/OccupancyGrid])

  • The occupancy grid map from which the node detects frontiers.

• /odom ([nav_msgs/msg/Odometry]

  • The odometry data of the robot.

• /goal_pose ([geometry_msgs/msg/PoseStamped](// File: ros2_humble.hpp))
  • The goal pose set towards a detected frontier.