cogniteam-coverage-exploration

Cogniteam-Coverage-Exploration

• Dockerhub image https://hub.docker.com/r/cognimbus/cogniteam-coverage-exploration
• Supported architectures arm64/amd64
• ROS version melodic

Short description

• Cogniteam exploration is a simple coverage heuristic algorithm that can be used while mapping License: BSD git: https://github.com/cognimbus/nimbus.library/tree/master/Library/Components/cogniteam-exploration

Example usage

docker run -it --network=host cognimbus/cogniteam-coverage-exploration:latest roslaunch exploration exploration.launch map_frame:=map searching_radius:=0.3 rate:=0.5 map_dilation_level_m:=0.2 min_percent_coverage:=80 --screen

Subscribers

ROS topic	type
/map	nav_msgs/OccupancyGrid
/move_base/feedback	move_base_msgs/MoveBaseActionFeedback
/move_base/result	move_base_msgs/MoveBaseActionResult
/move_base/status	actionlib_msgs/GoalStatusArray

Publishers

ROS topic	type
/move_base/cancel	actionlib_msgs/GoalID
/move_base/goal	move_base_msgs/MoveBaseActionGoal
/log	std_msgs/String
/goal_marker	visualization_msgs/MarkerArray
/exploration_img	sensor_msgs/Image
/map_filter	nav_msgs/OccupancyGrid

Required tf

map--->base_link

Provided tf

This node does not provide tf