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Fix melodic frontier exploration #150

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Fix melodic frontier exploration #150

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8ccc24d
fix melodic frontier exploration
Nov 27, 2020
07fe149
fix melodic frontier exploration
Nov 27, 2020
717e909
Disable exploration
Dkaka Nov 28, 2020
966d01b
disable launch file
Dkaka Dec 1, 2020
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2 changes: 1 addition & 1 deletion husky_navigation/config/costmap_exploration.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ rolling_window: false

plugins:
- {name: external, type: "costmap_2d::StaticLayer"}
- {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
- {name: polygon_layer, type: "polygon_layer::PolygonLayer"}
#Can disable sensor layer if gmapping is fast enough to update scans
- {name: obstacles_laser, type: "costmap_2d::ObstacleLayer"}
- {name: inflation, type: "costmap_2d::InflationLayer"}
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10 changes: 4 additions & 6 deletions husky_navigation/launch/exploration.launch
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Expand Up @@ -25,14 +25,12 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
-->
<launch>

<!-- <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
<arg name="plugin" default="frontier_exploration::FrontierPlugin"/>
<param name="plugin_name" value="$(arg plugin)"/>

<node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen">
<!-- <node pkg="exploration_server" type="plugin_client" name="explore_client" output="screen" /> -->

<param name="frequency" value="1.0"/> -->

<!-- Should be less than sensor range -->
<!-- <param name="goal_aliasing" value="2.0"/>
<!-- <node pkg="exploration_server" type="exploration_server_node" name="explore_server" output="screen">

<rosparam file="$(find husky_navigation)/config/costmap_common.yaml" command="load" ns="explore_costmap" />
<rosparam file="$(find husky_navigation)/config/costmap_exploration.yaml" command="load" ns="explore_costmap" />
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