This package implements frontier exploration using an action server (explore_server), that can be controlled from rviz via explore_client, or directly from other nodes.

When starting out with ROS, I was frustrated that there was no (maintained) exploration package that worked solely using the core ROS APIs (i.e. navigation).

Internally, this package contains a custom costmap_2d layer plugin that could be adapted for more complex exploration strategies.

Please email or post any feedback, comments or concerns!

Cheers,

Paul Bovbel