Hello,
I'm trying to figure out how to publish either markers or other data representing unexplored frontiers to rviz or another node. By frontier, I mean the boundary between open and unexplored space in a 2D occupancy map. I know that hector_exploration_planner does this internally and generates a single goal, after which hector_exploration_controller moves the robot to the said goal. However, I would like to play an intermediary role in the goal-determination process and then manually move the vehicle to the goal I select. Does anyone have any recommendations for ros packages that determine and publish all frontiers, or alternatively, information on how to use hector_exploration_explorer to publish this information?
Much appreciated! Please let me know if any additional information would be useful.
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