Nearest frontier planner

Implement an automatic exploration algorithm for robot.

This package should be used with move_base, a robot (real robot, stage or gazebo) and a mapping algorithm(like: gmapping,cartographer or icp).

Example

The example show how to use the package, you need to install the packages below:

1. navigation(branch: develop1.5)
2. mrpt_slam(branch: develop1.5)
3. navigation_tutorials(branch: develop1.5)

roslaunch navigation_stage move_base_icpslam_5cm.launch
roslaunch nearest_frontier_planner nearest_frontier_planner.launch
rosservice call /StartExploration