ros2_explorer
Autonomous exploration for ROS 2, featuring two algorithms: Wanderer (heuristic-based) and Discoverer (frontier-based, efficient for large maps). Mapping is handled by Google Cartographer (SLAM) and navigation by Nav2. Simulation runs in Gazebo with TurtleBot3 and with a custom CSV-based map generation.
File Explorer
Download Latest Version (.zip)- explorer_graph.png
- rosgraph.png
- __init__.py
- manager.py
- explorer.launch.py
- explorer_bringup
- test_copyright.py
- test_flake8.py
- test_pep257.py
- package.xml
- setup.cfg
- setup.py
- turtlebot3_lds_2d.lua
- cartographer.launch.py
- occupancy_grid.launch.py
- tb3_cartographer.rviz
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- map1.csv
- map10.csv
- map11.csv
- map2.csv
- map3.csv
- map4.csv
- map5.csv
- map6.csv
- map7.csv
- map8.csv
- map9.csv
- map1.sdf
- model.config
- map10.sdf
- model.config
- map11.sdf
- model.config
- map2.sdf
- model.config
- map3.sdf
- model.config
- map4.sdf
- model.config
- map5.sdf
- model.config
- map6.sdf
- model.config
- map7.sdf
- model.config
- map8.sdf
- model.config
- map9.sdf
- model.config
- burger_base.dae
- lds.dae
- tire.dae
- model-1_4.sdf
- model.config
- model.sdf
- map1.world.xml
- map10.world.xml
- map11.world.xml
- map2.world.xml
- map3.world.xml
- map4.world.xml
- map5.world.xml
- map6.world.xml
- map7.world.xml
- map8.world.xml
- map9.world.xml
- CMakeLists.txt
- gazebo-map-from-csv.py
- package.xml
- Discover.action
- Wander.action
- CMakeLists.txt
- package.xml
- __init__.py
- watchtower.py
- explorer_map_utils
- test_copyright.py
- test_flake8.py
- test_pep257.py
- package.xml
- setup.cfg
- setup.py
- __init__.py
- discoverer_server.py
- wanderer.py
- wanderer_server.py
- explorer_wanderer
- test_copyright.py
- test_flake8.py
- test_pep257.py
- package.xml
- setup.cfg
- setup.py
- .gitignore
- README.md
# Installation Guide
git clone https://github.com/DaniGarciaLopez/ros2_explorer
Downloads the entire project code from GitHub to your computer.
cd ros2_explorer
Moves into the project folder you just downloaded.
2. Official Install Script
Easy Recommended- APT (Debian/Ubuntu κ³μ΄) Built into Debian/Ubuntu-based Linux distributions.
- Python 3 Python is required to use pip.
sudo apt install python3-colcon-common-extensions
Installs directly from the APT package repository (Debian/Ubuntu-based).
sudo apt install gazebo
Installs directly from the APT package repository (Debian/Ubuntu-based).
sudo apt install python3-pip
Installs directly from the APT package repository (Debian/Ubuntu-based).
pip3 install pandas
Installs the package published on PyPI directly β no need to clone the source.
Pulled directly from this repo's README.
3. CMake
Mediumcd explorer_cartographer
This project's files live in a subfolder, so move into it first.
mkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.
4. Python
Easysudo apt install python3-pip
Installs directly from the APT package repository (Debian/Ubuntu-based).
pip3 install pandas
Installs the package published on PyPI directly β no need to clone the source.
Pulled directly from this repo's README.