Frontier Exploration Utilities for ROS 2
This repository provides core utilities, packages, and nodes for classic multi-robot frontier-based exploration in ROS 2. It includes robust occupancy grid processing, frontier detection, and costmap/c-space generation for safe and efficient autonomous exploration.
- FrontierDiscoveryNode: Detects and publishes frontiers from occupancy grids.
- OccupancyGridFilter: (If present) Handles local C-space generation for individual robots.
This package uses custom messages for frontiers and robot poses. Make sure to build the package so message headers are generated.
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All content from this repository is released under a GPLv3 license.
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