I would like to share a set of ROS packages that provide nodes for autonomous exploration and map building for mobile robots moving in planar environments. More information and some help can be found in the ROS-Wiki:

It contains ROS nodes for obstacle avoidance, basic path planning and graph based multi-robot mapping using the OpenKarto library. Autonomous exploration is done via plugins that implement different cooperation strategies. Additional strategies should be possible to implement with only little overhead.

These nodes have been used on a team of Pioneer robots, but other platforms should also do. A set of ROS launch files is included to test the nodes in a simulation with Stage. Please feel free to try it and post issues on Github.

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Sebastian Kasperski
Team Autonomie

Besuchsadresse der Nebengeschäftstelle:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany

Postadresse der Hauptgeschäftsstelle Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 1
28359 Bremen, Germany

Tel.: +49 421 178 45-6636
Zentrale: +49 421 178 45-0
Fax: +49 421 178 45-4150 (Faxe bitte namentlich kennzeichnen)
E-Mail: sebastian.kasperski@dfki.de

Weitere Informationen: http://www.dfki.de/robotik
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