🐞 Installtion error on Ubunto 20.04 ROS Noetic

[MF-Ahmed]

Hi, After Adding the stable PPA curl https://ctu-mrs.github.io/ppa-stable/add_ppa.sh | bash I get the following error after sudo apt install ros-noetic-mrs-uav-system-full

sudo apt install ros-noetic-mrs-uav-system-full
Reading package lists... Done Building dependency tree
Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation:

Thanks

[klaxalk]

The following information may help to resolve the situation:

missing "The following information that may help to resolve the situation" :-)

[MF-Ahmed]

Here is the full message after curl https://ctu-mrs.github.io/ppa-stable/add_ppa.sh | bash "λ › sudo apt install ros-noetic-mrs-uav-system-full ~ Reading package lists... Done Building dependency tree
Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation:

The following packages have unmet dependencies: ros-noetic-mrs-uav-system-full : Depends: python-is-python3 but it is not going to be installed E: Unable to correct problems, you have held broken packages. " Thanks

[klaxalk]

It looks like you are missing some important dependencies (-> have you installed ROS ??), or your package manager is in a broken state. The broken state can be sometimes easily fixed with aptitude, e.g., by trying

sudo aptitude install python-is-python3

[MF-Ahmed]

Thanks, I did "sudo apt install python-is-python3" and "sudo apt install ros-noetic-mrs-uav-system-full" The following NEW packages will be installed: binutils-dev libio-pty-perl libipc-run-perl libncurses5 libqt5svg5-dev libqt5websockets5-dev libtime-duration-perl libtinfo5 libx264-dev moreutils mrs-uav-shell-additions ros-noetic-aloam-slam ros-noetic-catch-ros ros-noetic-ddynamic-reconfigure-python ros-noetic-dynamic-edt-3d ros-noetic-mav-msgs ros-noetic-mavlink-sitl-gazebo ros-noetic-mavros-extras ros-noetic-mrs-aloam-core ros-noetic-mrs-aloam-estimator-plugin ros-noetic-mrs-bumper ros-noetic-mrs-euler-counter-example ros-noetic-mrs-gazebo-common-resources ros-noetic-mrs-hector-core ros-noetic-mrs-hector-estimator-plugin ros-noetic-mrs-lib ros-noetic-mrs-modules-msgs ros-noetic-mrs-msgs ros-noetic-mrs-multireconfigure ros-noetic-mrs-multirotor-simulator ros-noetic-mrs-octomap-mapping-planning ros-noetic-mrs-octomap-planner ros-noetic-mrs-octomap-server ros-noetic-mrs-octomap-tools ros-noetic-mrs-open-vins-core ros-noetic-mrs-open-vins-estimator-plugin ros-noetic-mrs-pcl-tools ros-noetic-mrs-rviz-plugins ros-noetic-mrs-serial ros-noetic-mrs-subt-planning-lib ros-noetic-mrs-tf-connector ros-noetic-mrs-tf-estimator ros-noetic-mrs-tf-reconfigure ros-noetic-mrs-uav-autostart ros-noetic-mrs-uav-controllers ros-noetic-mrs-uav-coppelia-api ros-noetic-mrs-uav-coppelia-simulation ros-noetic-mrs-uav-core ros-noetic-mrs-uav-deployment ros-noetic-mrs-uav-dji-tello-api ros-noetic-mrs-uav-gazebo-simulation ros-noetic-mrs-uav-gazebo-testing ros-noetic-mrs-uav-hw-api ros-noetic-mrs-uav-managers ros-noetic-mrs-uav-modules ros-noetic-mrs-uav-path-loader ros-noetic-mrs-uav-px4-api ros-noetic-mrs-uav-state-estimators ros-noetic-mrs-uav-status ros-noetic-mrs-uav-system-full ros-noetic-mrs-uav-testing ros-noetic-mrs-uav-trackers ros-noetic-mrs-uav-trajectory-generation ros-noetic-mrs-uav-trajectory-loader ros-noetic-mrs-utils ros-noetic-mrs-vins-imu-filter ros-noetic-mrs-vins-republisher ros-noetic-nimbro-cam-transport ros-noetic-nimbro-log-transport ros-noetic-nimbro-net-monitor ros-noetic-nimbro-network ros-noetic-nimbro-service-transport ros-noetic-nimbro-tf-throttle ros-noetic-nimbro-topic-transport ros-noetic-nlopt ros-noetic-ouster-ros ros-noetic-ov-core ros-noetic-ov-eval ros-noetic-ov-init ros-noetic-ov-msckf ros-noetic-plotjuggler ros-noetic-px4 ros-noetic-rviz-satellite ruby-erubis ruby-thor ruby-xdg tmuxinator The following packages will be upgraded: libignition-math6 libignition-math6-dev ros-noetic-rosbag ros-noetic-tf2 ros-noetic-tf2-ros 5 upgraded, 87 newly installed, 0 to remove and 860 not upgraded. Need to get 162 MB of archives. After this operation, 263 MB of additional disk space will be used. W: Sources disagree on hashes for supposely identical version '1.0.14' of 'mrs-uav-shell-additions:amd64'. Do you want to continue? [Y/n] y Get:1 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 libqt5svg5-dev amd64 5.12.8-0ubuntu1 [10.3 kB] Get:2 http://fr.archive.ubuntu.com/ubuntu focal/main amd64 libio-pty-perl amd64 1:1.12-1 [32.4 kB]
Get:3 http://fr.archive.ubuntu.com/ubuntu focal/main amd64 libipc-run-perl all 20180523.0-2 [89.7 kB] Get:4 http://fr.archive.ubuntu.com/ubuntu focal-updates/universe amd64 libtinfo5 amd64 6.2-0ubuntu2.1 [83.4 kB] Get:5 http://fr.archive.ubuntu.com/ubuntu focal-updates/universe amd64 libncurses5 amd64 6.2-0ubuntu2.1 [96.9 kB] Get:6 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 libqt5websockets5-dev amd64 5.12.8-0ubuntu1 [10.3 kB] Get:7 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 libtime-duration-perl all 1.21-1 [13.1 kB] Get:8 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 libx264-dev amd64 2:0.155.2917+git0a84d98-2 [569 kB] Get:9 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 moreutils amd64 0.63-1 [60.5 kB] Get:10 http://fr.archive.ubuntu.com/ubuntu focal-updates/main amd64 binutils-dev amd64 2.34-6ubuntu1.8 [3,634 kB] Get:11 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-msgs 2:1.0.4-0focal.20240129.110426~git.7fbb469 [322 kB] Get:12 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 ruby-erubis all 2.7.0-3 [88.6 kB]
Get:13 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 ruby-thor all 0.19.4-1 [43.9 kB]
Get:14 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 ruby-xdg all 2.2.3-1 [10.2 kB]
Get:15 http://fr.archive.ubuntu.com/ubuntu focal/universe amd64 tmuxinator all 1.1.4-3 [17.5 kB]
Get:16 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-catch-ros amd64 0.5.0-2focal.20230620.184147 [427 kB]
Get:17 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-tf2 2:0.7.666-0focal.20230917.065007~git.b496c7d [107 kB] Get:18 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-lib 2:1.0.4-0focal.20240217.041620~git.5df5318 [345 kB] Get:19 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-modules-msgs 2:1.0.0-0focal.20240120.041228~git.9b4f67e [120 kB] Get:20 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-tf2-ros 2:0.7.666-0focal.20230917.065252~git.b496c7d [239 kB] Get:21 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-ouster-ros 2:0.5.2-0focal.20230917.091947~git.d0ce2c3 [278 kB] Get:22 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-rosbag 2:1.16.666-0focal.20230917.085426~git.62faf58 [391 kB] Get:23 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-ddynamic-reconfigure-python amd64 0.0.1-1focal.20230620.193510 [7,652 B] Get:24 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-dynamic-edt-3d amd64 1.9.8-1focal.20220514.014748 [31.5 kB] Get:25 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-aloam-slam 2:0.0.0-0focal.20240217.042120~git.7a1e842 [244 kB] Get:26 http://packages.ros.org/ros/ubuntu focal/main amd64 libignition-math6-dev amd64 6.15.1-1~focal [147 kB] Get:27 http://packages.ros.org/ros/ubuntu focal/main amd64 libignition-math6 amd64 6.15.1-1~focal [111 kB] Get:28 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mav-msgs 2:3.3.3-0focal.20230917.071626~git.9166311 [48.4 kB] Get:29 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-plotjuggler amd64 3.9.0-1focal.20240205.194732 [8,540 kB] Get:30 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mavlink-sitl-gazebo 2:1.13.2-0focal.20240207.042455~git.40a30ca [671 kB] Get:31 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mavros-extras 2:1.13.0-0focal.20230917.070658~git.42175c0 [402 kB] Get:32 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-testing 2:1.0.0-0focal.20240220.090048~on.push.build [138 kB] Get:33 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-managers 2:1.0.4-0focal.20240219.045906~git.2fe7147 [1,020 kB] Get:34 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-state-estimators 2:0.0.3-0focal.20240219.051145~git.79362d8 [615 kB] Get:35 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-aloam-estimator-plugin 2:1.0.0-0focal.20240219.051930~git.c4f9e3b [56.9 kB] Get:36 http://packages.ros.org/ros/ubuntu focal/main amd64 ros-noetic-rviz-satellite amd64 3.1.0-1focal.20231013.195955 [131 kB] Get:37 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-aloam-core 2:1.0.0-0focal.20240219.052439~git.6da81a3 [12.6 kB] Get:38 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-bumper 2:1.0.4-0focal.20240217.043058~git.8a9d81b [233 kB] Get:39 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-euler-counter-example 2:1.0.0-0focal.20240217.043506~git.700b8b5 [96.3 kB] Get:40 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-gazebo-common-resources 2:1.0.3-0focal.20240203.041116~git.5ce9745 [47.2 MB] Get:41 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-hector-estimator-plugin 2:1.0.0-0focal.20240219.052846~git.fe93be3 [57.1 kB] Get:42 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-hector-core 2:1.0.0-0focal.20240219.053258~git.0fd73ee [11.2 kB]
Get:43 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-multireconfigure 2:1.0.0-0focal.20231114.203602~git.700b8b5 [5,040 B]
Get:44 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-hw-api 2:1.0.0-0focal.20240217.052406~git.8ddfa1e [208 kB]
Get:45 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-multirotor-simulator 2:1.0.0-0focal.20240217.052817~git.7a42cf7 [464 kB]
Get:46 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-subt-planning-lib 2:0.0.3-0focal.20240217.050735~git.6bf6fc2 [106 kB]
Get:47 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-octomap-planner 2:1.0.0-0focal.20240217.051246~git.9b33171 [206 kB]
Get:48 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-octomap-tools 2:1.0.0-0focal.20240217.044016~git.1d35082 [325 kB]
Get:49 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-octomap-server 2:1.0.0-0focal.20240217.044420~git.d74ed1d [207 kB]
Get:50 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-octomap-mapping-planning 2:1.0.0-0focal.20240217.051704~git.a417c88 [13.0 kB] Get:51 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-open-vins-estimator-plugin 2:1.0.0-0focal.20240219.054738~git.7c76b0d [57.1 kB] Get:52 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-vins-imu-filter 2:0.1.0-0focal.20240217.075911~git.7be6733 [6,556 B]
Get:53 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-vins-republisher 2:0.0.0-0focal.20240217.080619~git.8e216c6 [73.2 kB]
Get:54 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-ov-core 2:2.7.0-0focal.20231031.093706~git.22d0666 [549 kB]
Get:55 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-ov-eval 2:2.7.0-0focal.20231031.094136~git.22d0666 [336 kB]
Get:56 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-ov-init 2:2.7.0-0focal.20231031.094408~git.22d0666 [532 kB]
Get:57 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-ov-msckf 2:2.7.0-0focal.20231031.094928~git.22d0666 [1,016 kB]
Get:58 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-open-vins-core 2:1.0.0-0focal.20240219.062954~git.1213ed7 [816 kB]
Get:59 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-pcl-tools 2:1.0.0-0focal.20240217.044856~git.f864fdb [1,224 kB]
Get:60 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-rviz-plugins 2:1.0.4-0focal.20240217.045647~git.95a4e6b [3,154 kB]
Get:61 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-serial 2:1.0.0-0focal.20240217.050311~git.2117ec8 [364 kB]
Get:62 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-tf-connector 2:1.0.0-0focal.20240217.043549~git.700b8b5 [76.6 kB]
Get:63 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-tf-estimator 2:1.0.0-0focal.20231114.203716~git.700b8b5 [9,976 B]
Get:64 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-tf-reconfigure 2:1.0.0-0focal.20240217.043618~git.700b8b5 [105 kB]
Get:65 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-autostart 2:1.0.4-0focal.20240220.090208~on.push.build [124 kB]
Get:66 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-controllers 2:1.0.4-0focal.20240219.050544~git.222c551 [466 kB]
Get:67 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-coppelia-api 2:1.0.0-0focal.20240217.053425~git.ebc395a [91.2 kB]
Get:68 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-coppelia-simulation 2:1.0.0-0focal.20240217.053505~git.ebc395a [236 kB] Get:69 https://ctu-mrs.github.io/ppa-stable ./ mrs-uav-shell-additions 1.0.14 [5,160 B]
Get:70 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-status 2:1.0.4-0focal.20240217.055332~git.e978494 [208 kB]
Get:71 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-trackers 2:1.0.4-0focal.20240220.085709~on.push.build [618 kB]
Get:72 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nlopt 2:2.4.2-0focal.20231010.202347~git.3e71681 [226 kB]
Get:73 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-trajectory-generation 2:1.0.4-0focal.20240220.090601~on.push.build [438 kB] Get:74 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-core 2:1.0.0-0focal.20240219.060505~git.df7a857 [10.7 kB]
Get:75 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-deployment 2:1.0.0-0focal.20240210.042821~git.5088bfe [455 kB]
Get:76 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-dji-tello-api 2:1.0.0-0focal.20240217.053916~git.13316a9 [125 kB]
Err:77 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-gazebo-testing 2:1.0.0-0focal.20240220.044614~git.43ae3ff
404 Not Found [IP: 185.199.110.153 443] Get:78 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-px4-api 2:1.0.0-0focal.20240217.054846~git.fccf071 [149 kB]
Get:79 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-px4 1.13.2 [76.5 MB]
Get:80 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-gazebo-simulation 2:1.0.3-0focal.20240220.045020~git.2a9cc52 [4,929 kB] Get:81 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-path-loader 2:1.0.0-0focal.20240217.054334~git.1b3d5a3 [47.7 kB]
Get:82 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-trajectory-loader 2:1.0.0-0focal.20240217.074554~git.b44be4e [80.3 kB]
Get:83 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-utils 2:1.0.0-0focal.20240217.043701~git.700b8b5 [4,784 B]
Get:84 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-cam-transport 2:0.0.1-0focal.20231011.202929~git.b73ea32 [44.6 kB]
Get:85 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-log-transport 2:1.0.0-0focal.20231011.202957~git.b73ea32 [63.0 kB]
Get:86 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-net-monitor 2:0.0.1-0focal.20231011.203045~git.b73ea32 [70.1 kB]
Get:87 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-service-transport 2:1.0.0-0focal.20231011.203127~git.b73ea32 [139 kB]
Get:88 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-tf-throttle 2:1.0.0-0focal.20231011.203221~git.b73ea32 [33.0 kB]
Get:89 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-topic-transport 2:1.0.0-0focal.20231011.203259~git.b73ea32 [185 kB]
Get:90 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-nimbro-network 2:2.0.0-0focal.20231011.203417~git.b73ea32 [4,740 B]
Get:91 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-modules 2:1.0.0-0focal.20240217.075213~git.0f86b48 [4,848 B]
Get:92 https://ctu-mrs.github.io/ppa-unstable ./ ros-noetic-mrs-uav-system-full 2:1.0.0-0focal.20240220.044212~git.8c210b4 [2,056 B]
Fetched 162 MB in 18s (9,046 kB/s)
E: Failed to fetch https://ctu-mrs.github.io/ppa-unstable/./ros-noetic-mrs-uav-gazebo-testing_1.0.0-0focal.20240220.044614~git.43ae3ff_amd64.deb 404 Not Found [IP: 185.199.110.153 443] E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing? λ › roscd mrs_uav_gazebo_simulation/tmux/one_drone ~ roscd: No such package 'mrs_uav_gazebo_simulation/tmux/one_drone'

even after sourcing the noetic workspace I'm not able to roscd into mrs_uav_gazebo_simulation

[klaxalk]

Hey, to resolve the 404 Not Found [IP: 185.199.110.153 443] error, do sudo update update.

[MF-Ahmed]

Yes "sudo apt-get update" and then again "sudo apt install ros-noetic-mrs-uav-system-full" solved the issue before moving into the examples, 1) I would like to do RGBD SLAM (ORB-SLAM2) in simulation only using gazebo model and RVIZ visualization (joint state publisher), URDF file, adding custom sensors? 2) Does the mrs-uav-system system supports any path planning like moveit? 3) At the end I would like to do frontier exploration with SLAM does mrs-uav-system support these features (expect for the ORB-SLAM2 :-)) Thanks for the help

[klaxalk]

You can run ORB-SLAM2, that is for sure. I recommend starting with one of our drones presets from the mrs_uav_gazebo_simulation. Learn how to spawn them with different sensors (https://ctu-mrs.github.io/docs/simulation/gazebo/gazebo/drone_spawner.html) and find the ones that suit you. If you insist on a custom drone with custom sensor placement, follow the tutorial on how to create your custom drone package: https://ctu-mrs.github.io/docs/simulation/gazebo/gazebo/custom_drone.html.

The MRS system currently contains only one mapping & planning pipeline, the https://github.com/ctu-mrs/mrs_octomap_mapping_planning. However, you can connect other planning pipelines to the system using whatever output comes from the planning pipeline. The system accepts path, trajectory, or a single point reference as an input, so pretty much anything can be done (supposing the reference you generate is transformable by the TF library).

SLAM is only a technique to obtain localization. We integrate and use 4 different SLAMs/Odometries (ALOAM, LIOSAM, Hector, and OpenVins). You could possibly substitute the OpenVins with ORBSLam if you need to. However, to do frontier exploration, you need some volumetric mapping framework (like our Octomap).

[MF-Ahmed]

Thank you very much