search

robo-friends / m-explore-ros2

Explore_lite port to ROS2
Other
130 stars 45 forks source link

Navigation succeeds, but exploration hangs; return to initial pose ignored sometimes #36

Open kaiaai opened 9 months ago

kaiaai commented 9 months ago

Hello, I have been playing with your code. Thank you for making it available. It works well in my simulation (living room type) except issue #3, but I have noticed three issues so far in the physical environment:

  1. Navigation succeeds, then exploration hangs - even though there are (apparently) plenty of frontiers to explore exploration_hangs
  2. In the middle of, say, 6x6 meter room the code prints "no more frontiers" and stops, even though there is lots of frontiers remaining
  3. Often return to the initial pose gets skipped. I've seen it work only once.

Any suggestions how to fix that are most welcome! Thank you

16holson commented 4 months ago

I am having the same issue, have you been able to fix it?

kaiaai commented 4 months ago

So far no, I haven't had time to debug it.