Have you tried the pr2_exploration stack?

http://www.ros.org/wiki/pr2_exploration

 - Ken

On Wed, Jan 19, 2011 at 1:44 AM, koen buys <koen.buys@mech.kuleuven.be> wrote:
> Hi all,
>
> Could someone provide me with a working launch file for the explore
> package with the PR2? I'm unable to see
> the current frontiers (blue) and currently selected frontier(green).
> The explore package outputs the following:
>
> [ INFO] [1295430112.415990751]: Subscribed to Topics:
> [ INFO] [1295430112.474426447]: Requesting the map...
> [ INFO] [1295430112.479359568]: Still waiting on map...
> [ INFO] [1295430113.502180006]: Still waiting on map...
> [ INFO] [1295430114.508439971]: Received a 1984 X 1984 map at 0.050000 m/pix
> [ INFO] [1295430116.263668398]: Connected to move_base server
> [ WARN] [1295430116.390816173]: Done exploring with 0 goals left that
> could not be reached. There are 0 goals on our blacklist, and 0 of the
> frontier goals are too close to them to pursue. The rest had global
> planning fail to them.
> [ INFO] [1295430116.390904189]: Exploration finished. Hooray.
>
> Greetz,
>
> Koen Buys
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