This package allows to extract from an occupancy grid map frontier points, grouping them into regions. Frontier points and centroids of the regions are published into ROS topics.
- OpenCV
- ROS
- Clone the repository in your catkin workspace
- Compile with
catkin_make
Run the frontierExample node providing as input an occupancy grid map.
In a terminal type:
$ rosrun frontier_based_exploration frontierExample occupancyMap.jpg
It will create 2 output images, one containing the frontier points, one containing the frontier regions and their centroids. Frontier points and centroids are also published into ROS topics.
NOTE: It's important to set the thresholdSize and the threhsholdNeighbors for the construcor.