[ros-users] expolring the indoor environment without having prior map

[Eitan Marder-Eppstein]

Safdar,

You can run the navigation stack in conjunction with gmapping, see
http://www.ros.org/wiki/gmapping, to run without a static map. Instead of
running the map_server and amcl, gmapping will provide the map and
localization information to the navigation stack. As far as exploration
goes, there is an exploration stack that uses frontier based exploration,
http://www.ros.org/wiki/exploration, that may serve your needs. However, its
been a long time since I ran the exploration code, so I'm not sure how well
it will really work. You could also, of course, write your own if you find
that it doesn't suit your needs.

Hope this helps,

Eitan

On Thu, Jan 13, 2011 at 3:42 AM, safdar_zaman <safdaraslam at yahoo.com> wrote:

>
> Hi all,
> I have done indoor navigation with map, where i made map of the
> environment,
> then using navigation stack I moved Robot location to location by giving
> coordinates from the map.
> Now I want the  Robot to explorer an indoor environment to search for
> something with specifying any location to go on. Is it possible without
> having prior map? Or any other useful idea?
> regards
> --
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