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robo-friends / m-explore-ros2

Explore_lite port to ROS2
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Start / Stop exploring #7

Closed Timple closed 2 years ago

Timple commented 2 years ago

It would be nice if we can start and stop the exploring. Or maybe start until 'done'?

Would you accept a PR adding an action to start stop the exploration? Default can be started to keep backwards compatibility?

charlielito commented 2 years ago

Sure! PR's are welcome! I was also thinking adding the option to return to initial point after exploration is done

Timple commented 2 years ago

Ah yes, that would make a nice option.

Is there already a criterium when exploring is done?

charlielito commented 2 years ago

Yeah, it is donde when the algorithm cannot find any new frontier https://github.com/robo-friends/m-explore-ros2/blob/main/explore/src/explore.cpp#L195 or it already visited all frontiers so far https://github.com/robo-friends/m-explore-ros2/blob/main/explore/src/explore.cpp#L211

Timple commented 2 years ago

Awesome!