frontier_exploration_turtlebot

Exploring Frontier and Mapping Autonomously on Turtlebot

Dependencies

• ROS (Kinetc Kame)
• Gazebo
• Rviz
• gmapping
• move_base
• actionlib

package Depenndencies

• roscpp
• sensor_msgs
• nav_msgs
• actionlib
• actionlib_msgs
• move_base_msgs
• tf
• turtlebot packages

Installing turtlebot packages

sudo apt-get install ros-kinetic-turtlebot-*

Building package in catkin workspace

cd ~/catkin_ws/src/
git clone https://github.com/cmburgul/frontier_exploration_turtlebot.git

Run the nodes individually

• Run the turtlebot_world in gazebo simulation

cd ~/catkin_ws/
source devel/setup.bash
roslaunch turtlebot-gazebo turtlebot_world.launch

• Run the Rviz to visualize the robot and sensor msgs

cd ~/catkin_ws/
source devel/setup.bash
roslaunch turtlebot_navigation gmapping_demo.launch 

• Run the package files

cd ~/catkin_ws/
source devel/setup.bash
rosrun frontier_exploration_turtlebot frontier_exploration_node