frontier_exploration
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paulbovbel
Footprint filter
Need to filter out goals that fall inside robot footprint, behaves poorly with some local planners.
Yup, this needs to be done. Various times the local planner fails to produce a path to the frontier given and gives an error, leading to shutting down of the frontier exploration.
We, a small group of students, are also affected by this bug.
We're willing to look into the code to see if we're able to fix this, but we don't have a lot of experience with coding for ROS - we're mostly just making different nodes work together for our project and frontier_exploration is one of the last few that sometimes fail to work as intended. Any pointers for where to look/how to implement this would be great.
@Patagonicus, I would certainly appreciate any help you'd be willing to give. While I'm hoping to put some time aside for a thorough refactor, this behaviour could be fixed at the source:
https://github.com/paulbovbel/frontier_exploration/blob/indigo-devel/src/frontier_search.cpp#L146
This function should return false for any cells caught within the robot footprint.
To that end, you may find the following functions useful:
http://docs.ros.org/jade/api/costmap_2d/html/classcostmap__2d_1_1Costmap2DROS.html#a8e23eef773096a1fca61ae038220070d
http://docs.ros.org/indigo/api/frontier_exploration/html/namespacefrontier__exploration.html#a9b90012ac183da448a95eec412936066