hanwencao/frontier_exploration

Autonomous exploration and mapping using a mobile robot

frontier_exploration's Issues

Trying to acess a non-existing frontier

Often the planner tries to access non-existing frontiers on the array of available frontiers. As a consequence, the code crashes with the standard python message "list index out of bounds".

According to our battery of tests, this issue happens often and in otherwise ideal conditions in which we should not observe such a problem. More specifically, the code was tested in a physical turtlebot attempting to map a square space with walls always within the range of the kinetic sensor and one opening (the theoretical goal of the robot).

Unable to define frontiers when there are no features within the range of the Kinect sensor

The maximum range of the Kinect sensor is about 3.5 meters. If the turtlebot is placed on a scenario in which there's no obstacles within that range, the code is unable to select a new frontier and therefore it crashes.

This is particularly problematic when the turtlebot is mapping an environment such as an office and it finds itself in a corridor, for example, where it cannot find any features within its max range, and therefore it crashes.

Another obvious implication is the fact that under the current code-base the turtlebot is unable to map open spaces.

Stuck at Waiting for server

Hello,

After following all the config details and building the project, the demo.py file stuck at the Waiting for server line. What changes do I need to make in order to move the robot autonomously?